SPEED CONTROL OF DC MOTOR USING THREE PHASE

FULLY CONTROLLED BRIDGE CONVERTER: MATLAB

SIMULATION AND ANALYSIS
A PROJECT REPORT

SUBMITTED IN PARTIAL FULFILLMENT OF THE REQUIREMENT FOR

THE AWARD OF THE DEGREE OF

BACHELOR OF TECHNOLOGY
in

Electrical & Electronics Engineering

Submitted By
DEV YADAV
(08196504912)

Under the Supervision of

Mr. Mohit Kr.
(Assistant Professor in EEE Dept.)

HMR INSTITUTE OF TECHNOLOGY & MANAGEMENT

HAMIDPUR, DELHI-110036
GURU GOBIND SINGH INDRAPRASHTHA UNIVERSITY
DWARKA, DELHI
May 2016

CANDIDATE DECLARATION
I hereby declare that this submission of thesis on SPEED CONTROL OF DC MOTOR
USING THREE PHASE FULLY CONTROLLED BRIDGE CONVERTER: MATLAB
SIMULATION AND ANALYSIS is our own work and that, to the best of my knowledge
and, it contains no material previously published or written by another person nor material
which has been accepted for the award of any other degree of the university or other institute
of higher learning, except where due acknowledgment has been made in the text.

DEV YADAV
(08196504912)

CERTIFICATE
This is to certify that the Major Project Report entitled SPEED CONTROL OF DC
MOTOR USING THREE PHASE FULLY CONTROLLED BRIDGE CONVERTER:
MATLAB SIMULATION AND ANALYSIS done by DEV YADAV (08196504912),
student of B.TECH, HMR Institute of Technology and Management, during the year 20122016, in partial fulfillment of the requirements for the award of the Degree of Bachelor of
Technology and that the project has not formed the basis for the award previously of any
degree, diploma, associate ship, fellowship or any other similar title.
Signature of the supervisor
Mr. Mohit Kr.

(Assistant Professor)
EEE Department

HMR Institute of Technology & Management

The B.TECH VivaVoice Examination of DEV YADAV (08196504912), has been held on
_______________.

Signature of External Examiner

Signature of HOD

(Department of Electrical & Electronics Engineering)

HMR INSTITUTE OF TECHNOLOGY & MANAGEMENT

HAMIDPUR, DELHI 110 036

II

ACKNOWLEDGEMENT
I wish to express my deep sense of gratitude to my PROJECT SUPERVISOR, Mr.

Mohit Kr. and HOD of Electrical & Electronics Engineering Department, HMR

Institute of Technology & Management, Delhi for his guidance, encouragement and

useful suggestions, which helped me in completing the project work in time. I

consider myself very fortunate for having been associated with him. its affection,
guidance and scientific approach served a veritable incentive for completion of this
work.

Although it is not possible to name individually, I cannot forget my all-wishes at

HMR Institute of Technology &Management, Delhi and outsiders for their persistent
support and cooperation which needed during this work.

I shall ever remain indebted to the faculty members of HMR Institute of Technology
&Management, Delhi.

Finally, yet importantly, I would like to express my heartfelt thanks to our beloved
parents for their blessings, our friends/classmates for their help and wishes for the

successful completion of this project. This acknowledgement will remain incomplete

if I fail to express my deep sense of oligation to our parents and God for their
consistent blessings and encouragement.

III

CONTENTS
S NO. TOPIC
i

CANDIDATE DECLARATION

iii

ACKNOWLEDGEMENT

ii

iv
v

vi
1

CERTIFIC ATE

PAGE NO.
I

II

III

CONTENTS

IV

ABSTRACT

LIST OF FIGURES
CHAPTER 1 - INTRODUCTION
1.1 DC Motor

1.2 Matlab and Simulink

CHAPTER 2 PRINCIPLE OF OPERATION

CHAPTER 3 METHODS OF SPEED CONTROL OF DC MOTOR

3.1 Speed of a DC Motor

3.2 Speed control methods of DC Motor

a). Speed control of shunt motor
(1). Flux control method

(2). Armature control method

(3). Votlage control method

VI
2-5
2
4

6
7-11
7
8
8
8
8
9

b). Speed control of series motor

10

(a). Field divertor

10

(1). Flux control method

(b). Armature divertor

(c). Tapped field control

(d). Paralleling filed coils

3.3 Variable resistance in series with armature

3.4 Series-parallel control

10
10
11
11
11
11

CHAPTER 4 - MATHEMATICAL MODELLING OF DC MOTOR

12-13

CHAPTER 5 - MATHEMATICAL MODELLING OF THREE PHASE

14-16

FULL CONVERTER BRIDGE

IV

CHAPTER 6 SIMULATION MODEL

6.1 Basic model of speed control of DC Motor using three phase fully controlled

17-25
18

bridge converter: Matlab simulation and analysis

6.2 Subsystem model of voltmeter used in basic model

19

6.4 Universal bridge

21

6.3 Subsystem model of ac source of basic model

20

6.5 Synchronized six pulse generator

22

6.6 Running of model

23

6.7 Output

24

6.8 Input and output

25

CHAPTER 7 FUTURE SCOPE

26

CHAPTER 8 CONCLUSION

27

APPENDIX

28

REFERENCE

29

LIST OF FIGURES
S. NO.

FIGURE

PAGE NO.

Working of DC Motor

Armature control method

Field divertor

10

Tapped field

10

10

Equivalent circuit of separately excited DC Motor

12

12

Three-phase full-wave rectifier or Graetz bridge

15

14

Current waveform for the Graetz Bridge

16

1
3
5
6

DC Motor

Flux control method

Ward-leonard system

Armature divertor

Paralleling field coils

11
13
15
16

Load torque vs angular speed graph

Voltage waveform for the Graetz Bridge

Basic model

10

10

13
15
18

Model of Voltmeter

19

18
19
20

Universal bridge
Synchronized six pulse generator
Running model

21

Output voltage

21
22
23

22

Output speed

23

Input and output voltage

17

Model of AC Source

20

24
24
25

VI

ABSTRACT
Speed control of DC motor using three phase fully controlled bridge converter is interdisciplinary
and is at the confluence of four fundamental technical areas- power, electronics, machines and
control. And is used in a wide variety of industries from simple water pump to chemical plants to
rolling mills. The importance of Speed control of DC motor using three phase fully controlled
bridge converter has grown over the years due to several factors like controllability, efficiency.
Matlab simulation can greatly aid in the analysis, design and education of Speed control of DC
motor using three phase fully controlled bridge converter. A Matlab simulation is an attempt to
model a real-life or hypothetical situation on a computer so that it can be studied to see how the
system works. By changing variables, predictions may be made about the behavior of the system. In
my work towards this i have ensured to bring out the different responses of firing angle in the Speed
control of DC motor using three phase fully controlled bridge converter. However, simulation of
Speed control of DC motor using three phase fully controlled bridge converter is made challenging
by the following factors:
1). Extreme non-linearity presented by switches,
2). A lack of models.
Therefore, it is important that the objective if the computer analysis be evaluated carefully and an
appropriate simulation package be chosen.
In view of the above considerations, a Matlab based simulation package Simulink has been chose
by me for this very purpose. This has had the detailed device models and has been able to represent
the controller portion of the converter system by its functional features in as simplified a manner as
possible.

CHAPTER 1
INTRODUCTION
1.1 DC Motor

A direct current (DC) motor is a fairly simple electric motor that uses electricity and a magnetic
field to produce torque, which turns the motor.
A dc motor is used to convert electrical energy into mechanical energy for driving loads.
DC motors are widely used in industry because of its low cost, less complex control structure and
wide range of speed and torque. There are many methods of speed control of DC drives namely
field control, armature voltage control and armature resistance control methods. DC motors provide
high starting torque which is required for traction applications. In DC motor control over a large
speed range, both below and above the rated speed can be achieved quite easily. DC motors have
inherent disadvantages that it needs regular maintenance and it is bulky in size. DC motors are tailor
made, so it is very difficult to replace them. In general, armature voltage control method is widely
used to control the DC drives. In this method, a controlled rectifier, or chopper is used but due
involvement of power electronics elements, nonlinear torque speed characteristics are observed
which are undesirable for control performance
Nowadays state of art speed control techniques of DC motor are available. Thyristor based DC
drives with analog and digital feedback control schemes are used. Phase locked loop control
technique is also used for precise speed control and zero speed regulation. In past, many researchers
presented various new converter topologies of DC motor control for different applications of
industry, but at the basic level in all of them thyristor based AC-DC converter are used. MATLAB
with its toolboxes like Simulink and SimPowerSystem are used for simulation

Fig 1 DC Motor

1.2 MATLAB AND SIMULINK

MATLAB

The Language of Technical Computing

Millions of engineers and scientists worldwide use MATLAB to analyze and design the systems
and products transforming our world. MATLAB is in automobile active safety systems,
interplanetary spacecraft, health monitoring devices, smart power grids, and LTE cellular networks.
It is used for machine learning, signal processing, image processing, computer vision,
communications, computational finance, control design, robotics, and much more.
Math. Graphics. Programming.
The MATLAB platform is optimized for solving engineering and scientific problems. The matrixbased MATLAB language is the worlds most natural way to express computational mathematics.
Built-in graphics make it easy to visualize and gain insights from data. A vast library of prebuilt
toolboxes lets We get started right away with algorithms essential to our domain. The desktop
environment invites experimentation, exploration, and discovery. These MATLAB tools and
capabilities are all rigorously tested and designed to work together.
Scale. Integrate. Deploy.
MATLAB helps We take our ideas beyond the desktop. We can run our analyses on larger data sets
and scale up to clusters and clouds. MATLAB code can be integrated with other languages,
enabling We to deploy algorithms and applications within web, enterprise, and production systems.

Simulation and Model-Based Design

Simulink is a block diagram environment for multidomain simulation and Model-Based Design. It
supports simulation, automatic code generation, and continuous test and verification of embedded
systems.
Simulink provides a graphical editor, customizable block libraries, and solvers for modeling and
simulating dynamic systems. It is integrated with MATLAB, enabling We to incorporate
MATLAB algorithms into models and export simulation results to MATLAB for further analysis.
From Concept to Code
Engineers everywhere use Simulink to get their ideas off the ground, including reducing fuel
emissions, developing safety-critical autopilot software, and designing wireless LTE systems.
Discover how Simulink can help We complete our projects.

CHAPTER 2
PRINCIPLE OF OPERATION
The operation of a dc motor is based on electromagnetism.
A current -carrying conductor generates a magnetic field; when this is then placed in an external
magnetic field, it will experience a force proportional to the current in the conductor, and to the
strength of the external magnetic field.

Fig 2 working of dc motor

CHAPTER 3
METHODS OF SPEED CONTROL OF DC MOTOR
3.1 Speed of a DC motor

We know, back emf of a DC motor Eb is the induced emf due to rotation of the armature in
magnetic field. Thus value of the Eb can be given by the EMF equation of DC generator.
Eb = PNZ/60A

(where, P= no. of poles, =flux/pole, N=speed in rpm, Z=no. of armature conductors A=parallel
paths)

Eb can also be given as,

Eb = V- IaRa

thus from above equations

N=

E 60A/
b
PZ

but, for a DC motor A, P and Z are constant

N K

E /
b

(where, K=constant)

thus, it shows speed is directly proportional to back emf and inversely proportional to the flux per
pole.

3.2 Speed control methods of DC motor

(A)Speed control of Shunt motor
1. Flux control method

Fig 3 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.
2. Armature control method

Fig 4 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 Ra are kept constant, speed is directly proportional to

armature current Ia. 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.
3. 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:

Fig 5 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.
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.

(B). Speed control of series motor

1. Flux control method

(a) Field divertor :

A veritable resistance is connected parallel to the series field as shown in fig (a). This variable

resistor is called as divertor, as desired amount of current can be diverted through this resistor and
hence current through field coil can be decreased. Hence flux can be decreased to desired amount
and speed can be increased.
(b) Armature divertor:

Divertor is connected across the armature as in fig (b).

For a given constant load torque, if armature current is reduced then flux must increase. As, Ta
Ia

This will result in increase in current taken from the supply and hence flux will increase and
subsequently speed of the motor will decrease.

10

(c) Tapped field control:

As shown in fig (c) field coil is tapped dividing number of turns. Thus we can select different value
of by selecting different number of turns.
(d) Paralleling field coils:

In this method, several speeds can be obtained by regrouping coils as shown in fig (d).
3.3 Variable resistance in series with armature

By introducing resistance in series with armature, voltage across the armature can be reduced. And
hence, speed reduces in proportion with it.
3.4 Series-parallel control

This system is widely used in electric traction, where two or more mechanically coupled series

motors are employed. For low speeds, motors are joined in series, and for higher speeds motors are
joined in parallel.

When in series, the motors have the same current passing through them, although voltage across

each motor is divided. When in parallel, voltage across each motor is same although current gets
divided.

11

CHAPTER 4
MATHEMATICAL MODELLING OF DC MOTOR
The dynamic and steady-state model of separately excited DC motor is needed to analyse the torque
speed characteristics. The schematic representation of the model of a separately excited DC motor
is shown below in figure 1 in which ea is the terminal voltage applied to the motor, Ra and La are
the resistance, and inductance of the armature circuit respectively, Rf and Lf are the resistance, and
inductance of the field circuit respectively, eb is generated back emf and Tm is the electromagnetic
torque developed by the motor. The related DC Motor parameters are mentioned in appendix A.

Fig 10 Equivalent circuit of separately excited DC motor

The torque is produced as a result of interaction of field flux with current in armature conductors
and is given by Eq. (1)
Here K is a constant depending on motor windings and geometry and is the flux per pole due to the
field winding.
The direction of the torque produced depends on the direction of armature current. When armature
rotates, the flux linking the armature winding will vary with time and therefore according to
Faradays law, an emf will be induced across the winding. This generated emf, known as the back
emf, depends on speed of rotation as well as on the flux produced by the field and given by Eq. (2)
By applying KVL at input side of in figure 1,

In steady state condition,

In terms of torque and speed, the steady state equation will be given by Eq. (5)

12

Thus from the above equation it is clear that speed can be controlled by varying there parameters,
namely , , and . The three methods of speed control are as following:
i. Armature voltage controlled (Ea ).
ii. Armature resistance controlled (Ra ).
iii. Flux controlled ( ).
Speed control using armature resistance by adding external resistor is not used very widely because
of the large energy losses due to the Rext. Armature voltage control is normally used for speed up
to rated speed (base speed). Flux control is used for speed beyond rated speed but at the same time
the maximum torque capability of the motor is reduced since for a given maximum armature
current, the flux is less than the rated value and so as the maximum torque produced is less than the
maximum rated torque [4]. Here the main attention is given to the armature voltage control method.
In the armature voltage control method, the voltage applied across the armature ea is varied keeping
field voltage constant. As equation (6) indicates, the torque-speed characteristic is represented by a
straight line with a negative slope when the applied armature voltage is ideal, that ideal torque
speed characteristic is illustrated in figure 2 [10].

Fig 11 load torque vs angular speed graph

13

CHAPTER 5
MATHEMATICAL MODELLING OF THREE PHASE FULL
CONVERTER BRIDGE

Three-Phase Full-Wave Rectifier(Converter) or Graetz Bridge

Parallel connection via interphase transformers permits the implementation of rectifiers for high
current applications. Series connection for high voltage is also possible, as shown in the full-wave
rectifier. With this arrangement, it can be seen that the three common cathode valves generate a
positive voltage with respect to the neutral, and the three common anode valves produce a negative
voltage. The result is
a dc voltage twice the value of the half-wave rectifier. Each half of the bridge is a 3-pulse converter
group. This bridge connection is a two-way connection, and alternating currents flow in the valveside transformer windings during both half periods, avoiding dc components into the windings, and
saturation in the transformer magnetic core. These characteristics make the so-called Graetz bridge
the most widely used line-commutated thyristor rectifier. The configuration does not need any
special transformer, and works as a 6-pulse rectifier. The series characteristic of this rectifier
produces a dc
voltage twice the value of the half-wave rectifier. The load average voltage is given by

where Vmax is the peak phase-to-neutral voltage at the secondary transformer terminals, Vrms
f N its rms value, and Vsec f f the rms phase-to-phase secondary voltage, at the valve terminals of
the rectifier. Figure shows the voltages of each half-wave bridge of this topology npos D and nneg
D , the total instantaneous dc voltage vD, and the anode-to-cathode voltage nAK in one of the
bridge thyristors. The maximum value of nAK is p 3 _ Vmax, which is the same as that of the halfwave converter and the interphase transformer rectifier. The double star rectifier presents a
maximum anode-to-cathode voltage of 2 times Vmax. Figure

14

Above figure shows the currents of the rectifier, which assumes that LD is large enough to keep the
dc current smooth. The example is for the same DY transformer connection shown in the topology
of Figure of graetz bridge. It can be noted that the secondary currents do not carry any dc
component, thereby avoiding overdesign of the windings and transformer saturation. These two
figures have been drawn for a firing angle a of _30_. The perfect symmetry of the currents in all
windings and lines is one of the reasons why this rectifier is the most popular of its type. The
transformer rating in this case is

15

16

CHAPTER 6
SIMULATION METHOD
In this section Speed control of dc motor using three phase fully controlled bridge converter by
using MATLAB/Simulink in order to validate the performance. These simulations are carried out
on Speed control of dc motor using three phase fully controlled bridge converter with 250V input
voltage, and 25 KHz switching frequency With DC motor. The Simulations are carried out
neglecting the internal resistance of inductor and capacitor (RL, RC).
SIMULINK is chosen for this purpose because it offers a tool called Sim Power Systems which
facilitates modeling of DC motors with its DC machine tool box. The model is then put into the
MATLAB simulation.. The parameters of DC machine shown that correspond to the actual pump
motor are unknown, thus they are chosen by modification of the default values and estimation from
other references.

17

6.1 BASIC MODEL OF Speed control of dc motor using three phase fully controlled
bridge converter: Matlab simulation and analysis

18

6.2 MODEL OF VOLTMETER USED IN BASIC MODEL AS A SUBSYSTEM

19

6.3 MODEL OF AC SOURCE OF BASIC MODEL AS A SUBSYSTEM

20

6.4 UNIVERSAL BRIDGE

21

6.5 SIX PULSE GENERATOR

22

6.6 RUNNING OF MODEL

23

6.5 OUTPUT VOLTAGE

OUTPUT VOLTAGE

OUTPUT RPM

24

6.6 VIEW OF INPUT AND OUTPUT VOLTAGE

25

CHAPTER 7
FUTURE SCOPE

The result have shown that there are room for improvements of the model used, some of them are.

New motor model and control system with a saturation model.

Saturation, how much will the saturation affect the motor? Development of new motor

model and control.

Hardware construction of the converter and testing/verifying the theory.

26

CHAPTER 8
CONCLUSION
The DC Machine is considered to be basic electric machine. The aim of this project report is speed
control of DC Motor using three phase fully controlled bridge rectifier. Speed curves for different
firing angles generate. From the above results, it can be concluded that the reason of non linearity in
speed torque is discontinuity in armature current which is highly non-desirable for industrial
applications. To got the desired speed of DC Motor we use different firing angle. So it can be
preferred for wide range of load torque which can be used in wide application.

27

APPENDIX

28

REFERENCE

[1] http://in.mathworks.com/products/matlab/?refresh=true
[2] http://in.mathworks.com/products/simulink/

[3]http://ctms.engin.umich.edu/CTMS/index.php?example=MotorSpeed&section=SimulinkModeli
ng
[4] Katsuhiko Ogata, Modern Control Engineering
[5] M.H.Rashid, Power Electronics Circuit,Devices and Application
[6] Simon Ang & Alejandro OlivaPower Switching Converters
[7] Dubey, G.K., Fundamentals of Electrical Drives. New Delhi, Narosa Publishing House
[8] N. K. DW. P. K. Sen,Electric drives.
[9] https://www.coursera.org/course/matlab

29