ACKNOWLEDGEMENT

CONTENTS
 Abstract 04

 Introduction 05

 Need of Wireless power transfer system 06

 Block diagram 07

 Proposed method 08

 Schematic diagram 09

 Prootype model 10

 Experimental result 13

 15

 15

 Conclusion 16

 References 17
 ABBREVIATIONS AND ACRONYMS
MOSFET - Metal Oxide Semiconductor Field Effect Transistor
DC - Direct Current
PWM - Pulse Width Modulation
MATLAB - Matrix Laboratory
PID - Proportional –integral-derivative
Introduction
An electrical drive consists of electric motors, its power controller and energy transmitting
shaft. In modern electric drive system power electronic converters are used as power
controller. Electric drives are mainly of two types: DC drives and AC drives. The two types
differ from each other in that the power supply in DC drives is provided by DC motor and
power supply in AC drives is provided by AC motor
DC drives are widely used in applications requiring adjustable speed control,
frequent starting, good speed regulation, braking and reversing. Some important applications
are paper mills, rolling mills, mine winders, hoists , printing presses, machine tools, traction,
textile mills, excavators and cranes. Fractional horsepower DC motors are widely used as
servomotors for tracking and positioning. For industrial applications development of high
performance motor drives are very essential. DC drives are less costly and less complex than
AC drives
DC motors are used extensively in adjustable speed drives and position control
system. The speed of DC motors can be adjusted above or below rated speed. Their speed
above rated speed are controlled by field flux control and speed below rated speed is
controlled by armature voltage. 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 various
methods of speed control of DC drives – armature voltage control, field flux control and
armature resistance control
For controlling the speed and current of DC motor, speed and current controllers are used.
The main work of controller is to minimize the error and the error is calculated by comparing
output value with the set point. This thesis mainly deals with controlling DC motor speed
using Chopper as power converter and PI as speed and current controller.
 Speed Control of D.C. Motors
Although a far greater percentage of electric motors in service are a.c. motors, the d.c. motor
is of considerable industrial importance. The principal advantage of a d.c. motor is that its
speed can be changed over a wide range by a variety of simple methods. Such a fine speed
control is generally not possible with a.c. motors. In fact, fine speed control is one of the
reasons for the strong competitive position of d.c. motors in the modem industrial
applications. In this chapter, we shall discuss the various methods of-speed control of d.c.
motors

* Speed Control of D.C. Motors

The speed of a d.c. motor is given
𝐸𝑏
𝑁𝛼 ∅
𝑉−𝐼𝑎𝑅𝑎
or 𝑁=𝐾 ∅
(i)

Where R = Ra for shunt motor

= Ra + Rse. for series motor
From exp. (i), it is clear that there are three main methods of controlling the speed of a d.c.
motor, namely:
(i)By varying the flux per pole This is known as flux control method
(ii) By varying the resistance in the armature circuit. This is known as armature control
method.
(iii) By varying the applied voltage V. This is known as voltage control method.

5.2 Speed Control of D.C. Shunt Motors

The speed of a shunt motor can be changed by
1) flux control method
2) armature control method
3) voltage control method.

The first method (i.e. flux control method) is frequently used because it is simple and
inexpensive.
1)FLUX CONTROL METHOD
1
It is based on the fact that by varying the flux ∅, the motor speed (𝑁𝛼 ) can be changed and
∅
hence the name flux control method. In this method, a variable resistance (known as shunt
field rheostat) is placed in series with shunt field winding as shown in figure below

The shunt field rheostat reduces the shunt field current Ish and hence the flux f. Therefore, we
can only raise the speed of the motor above the normal speed Generally, this method permits
to increase the speed in the ratio 3:1. Wider speed ranges tend to produce instability and poor
commutation.
Advantages
1) This is an easy and convenient method.
2) It is an inexpensive method since very little power is wasted in the shunt field rheostat due
to
relatively small value of Ish.
3) The speed control exercised by this method is independent of load on the machine.
Disadvantages
1) Only speeds higher than the normal speed can be obtained since the total field circuit
resistance cannot
be reduced below Rsh—the shunt field winding resistance.
2) There is a limit to the maximum speed obtainable by this method. It is because if the flux
is too much weakened, commutation becomes poorer
Note. The field of a shunt motor in operation should never be opened because its speed will
increase to an extremely high value
2)Armature control method
This method is based on the fact that by varying the voltage available across the armature, the
back e.m.f and hence the speed of the motor can be changed. This is done by inserting a
variable resistance RC (known as controller resistance) in series with the armature as shown
in Figure

Due to voltage drop in the controller resistance, the back e.m.f. (Eb) is decreased. Since
N α Eb, the speed of the motor is reduced. The highest speed obtainable is that corresponding
to RC = 0 i.e., normal speed. Hence, this method can only provide speeds below the normal
speed
Disadvantages
(i) A large amount of power is wasted in the controller resistance since it carries full
armature current Ia.
(ii) The speed varies widely with load since the speed depends upon the voltage drop
in the controller resistance and hence on the armature current demanded by the
load.
(iii) The output and efficiency of the motor are reduced.
(iv) This method results in poor speed regulation.
Due to above disadvantages, this method is seldom used to control the speed of shunt motors.
Note. The armature control method is a very common method for the speed control of d.c.
series motors. The disadvantage of poor speed regulation is not important in a series motor
which is used only where varying speed service is required.
Voltage control method
In this method, the voltage source supplying the field current is different from that which
supplies the armature. This method avoids the disadvantages of poor speed regulation and
low efficiency as in armature control method. However, it is quite expensive. Therefore, this
method of speed control is employed for large size motors where efficiency is of great
importance.
1)Multiple voltage control. In this method, the shunt field of the motor is connected
permanently across a-fixed voltage source. The armature can be connected across several
different voltages through a suitable switchgear. In this way, voltage applied across the
armature can be changed. The speed will be approximately proportional to the voltage
applied across the armature. Intermediate speeds can be obtained by means of a shunt field
regulator.
2) Ward-Leonard system. In this method, the adjustable voltage for the armature is obtained
from an adjustable-voltage generator while the field circuit is supplied from a separate
source. This is illustrated in Fig. The armature of the shunt motor M (whose speed is to be
controlled) is connected directly to a d.c. generator G driven by a constant-speed a.c. motor
A. The field of the shunt motor is supplied from a constant-voltage exciter E. The field of the
generator G is also supplied from the exciter E. The voltage of the generator G can be varied
by means of its field regulator. By reversing the field current of generator G by controller FC,
the voltage applied to the motor may be reversed. Sometimes, a field regulator is included in
the field circuit of shunt motor M for additional speed adjustment. With this method, the
motor may be operated at any speed upto its maximum speed
Advantages
(a) The speed of the motor can be adjusted through a wide range without resistance losses
which results in high efficiency.
(b) The motor can be brought to a standstill quickly, simply by rapidly reducing the voltage
of generator G. When the generator voltage is reduced below the back e.m.f. of the motor,
this back e.m.f sends current through the generator armature, establishing dynamic braking.
While this takes Fig. place, the generator G operates as a motor driving motor A which
returns power to the line.
(c) This method is used for the speed control of large motors when a d.c. supply is not
available. The disadvantage of the method is that a special motor-generator set is required for
each motor and the losses in this set are high if the motor is operating under light loads for
long periods

CHOPPER
Introduction of chopper
A chopper is a static power electronic device which converts fixed dc input voltage to a
variable dc output voltage. It can be step up or step down. It is also considered as a dc
equivalent of an ac transformer since they behave in an identical manner. Due to its one stage
conversion, choppers are more efficient and are now being used all over the world for rapid
transit systems, in marine hoist, in trolley cars, in mine haulers and in forklift trucks etc. 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. The power semiconductor devices used for a chopper circuit can be force
commutated thyristor, BJT, MOSFET, IGBT and GTO. Among above switches IGBT and
GTO are widely used. These devices are generally represented by a switch. When the switch
is OFF, no current will 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.
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. A constant dc supply of magnitude
is given as input voltage and let its output voltage across load be Vo. 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 , chopper is on and load voltage is equal to source
voltage . During the period , chopper is off, load voltage is zero. In this manner, a chopped dc
voltage is produced at the load terminals

Figure1.Chopper Circuit and Voltage and Current Waveform.

Average Voltage,
Vo= (Ton/ (Ton+Toff))*Vs
= (Ton/T)*Vs =αVs
Ton=on-time.
Toff=off-time.
T=Ton+Toff = Chopping period.
α=Ton/Toff.
Thus the voltage can be controlled by varying duty cycle α.
Vo = f* Ton* Vs
f=1/T=chopping frequency.
CONTROL STRATEGIES
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.
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:
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.
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 T off is kept constant. This
method of controlling duty ratio is also called Frequency-modulation scheme
3. 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.PWM technique is the commonly chosen control strategy for the
power control in chopper circuit
MODELLING OF Dc MOTOR
2. OPEN LOOP OPERATION OF A SEPARATELY EXCITED DC MOTOR MODEL
This chapter deals with modeling of a separately excited DC motor and verifies the
performance of the DC motor model under open loop for different input voltages namely step,
step – ramp and stepped input using “ mat lab soft ware”.
2.1 Development Of Open Loop Model
Fig 2.1 shows the circuit diagram of an armature voltage controlled separately exited
DC motor. The input voltage ea is applied to armature, which has a resistance of Ra and
inductance La . The field current If supplied to the field winding is kept constant and thus the
armature input voltage controls the motor shaft output.
The moment of inertia and the coefficient of viscous friction at the motor shaft being J m and
Bm respectively. The angular shift in the motor shaft being m and the corresponding angular
velocity being.

Ra ia

If constant



eb
ea
Ta.B.J



Fig.2.1 Circuit Diagram of an Armature of a Voltage Controlled Separately Exited DC Motor

The voltage loop equation is
Ea=eb+IaRa+Ladia/dt
Where eb = back emf.
The applied input voltage ea is being opposed by the back emf eb developed in the armature.
The relationship between eb and the motor speed m is given by
eb  m
eb = ka
Where n=number of revoutions per minute (rpm)
The torque balance equation is
Td = T1+Bn+jdn/dt
Where
Td  ia
Td = kaia
The above related dynamic equationa can be written in the Laplace domain are
Given below
Ea(S) = Eb(S)+ Ra Ia(S)+S La Ia(S)
Eb(S) = ka. .n(S)
Td(S) = Tl(S)+ B N(S)+J S N(S)
Td(S) = KaIa(S)
Thus from equation (5)
Ia(S) = (Ea(s) – Eb(S))/(Ra+Sla)
= ((Ea(s) – Eb(S))/Ra ( 1+Sa)
Where La/Ra = a = electrical time constant of the motor armarure circuit from
equation97)
N(S) = (Td(S) – TL (S))/(B+JS)
= (Td(S) – TL (S))/B(1+Sm)
Where J/B = m = mechanical time constant of the motor.
These relationshipa are shown in block diagram from in fig. The back emf forms a
feedback path. This emf Feedback path provides the moderate speed regulation in the
separately excited d.c. Motor.

la(s) TL(s) N(s)

Ea(s) +
1/Ra(1+sTa) Ka 1/B(1+sTm)

Td(s)
Eb(s)

Ea(s)
Ka

Fig.2.2 Functional Block Diagram Of Sepsrately Excited DC Motor

Consider there is no load torque in the above diagram, we can derive a transfer function of
N(s)/Ea(S) When TL (S) = 0
N(s)/Ea(S) = Ka /(Ra(I+Sa)B (I+Sm) + Ka )2) ……………………….(11)
When TL(S) = 0 we can derive a transfer function of N(S)/Ia(S)
N(S)/Ia(S) = Ka/(B(I+Sm)) ………………………..(12)
From equation (11) and (12)
Ia(S)/Ea(S) = (B(I+Sm))/(Ra(I+Sa)B(I+Sm)+(Ka)2)…………………………(13)
The above equation reduces the block diagram

(B(1+Sm))/(Ra(1+Sa)B(1+Sm)+Ka)2) Ka/(B(1+Sm))

Ea(s) I. (s) N(s)

Fig.2.3 Simplified Functional Block Diagram of Separately Excited Dc Motor

The transfer Function is
N(s)/Ea(S) = Ka/(Ra(I+Sa)B(I+Sm)+(Ka)2) ……………………………(14)
Thus the motor can be represented for the purpose of analyzing it for voltage control as two
blocks as shown in fig.2.4.
When there is no input voltage to the functional diagram we can obtain the transfer function of
N(S)/TL(S).

1/Ra(1+Sa) Ka  1/B(1+Sm)

Ka

Fig.2.4 Simplified Block Diagram For Zero Input Voltage Of A Motor

We obtain
N(S)/TL(S) = -(I+Sa) /(Ra(I+Sa)B(I+Sm)+(Ka)2) ……………………….(15)
2.2 Simplified transfer function
The above transfer functions we obtain in both the cases are second order transfer function.
The time response of a second order control system given by equation 16 is is
influenced by its damping ratio. The damping ratio for the above cases  1is considered below.
An expression for the time response of a system having  1 is given by
The time response in relations to equations (16) is a over damped response.
Equation (16) indicates that the time respone has two time constants one slower Tl =1/(-
(2-1)n and the other faaster T2 =1/(-(2-1)n ). For value of  comparatively greater
than 1 then the effect of the faaster time constant on the time response can be negeleted and the
time response expression takes the following form.
The output equation when both the inputs (TL(S) and Ea(S)) are present is given by:
2.3 Design Parameters Of Separately Exited DC Motor
Parameters of D.C machine:
Rataed Voltage =240V
Mechanical Power = 5 HP
B =0.002953 N-msec/rad
La = 28mH
Ia = A
Ra =2.581 ohm
Speed = 1750rpm
Ka=1.309V-sec/rad
J=0.02215 Kg-m2

Electrical time constant =11.04ms

Mechanical time constant = 7.5ms
When TL(S) = 0
N(S)/Ea(S) =128.509/(S2 + 21.825s+72.5494)
From the above transfer function
n = 8.5175 rad/sec;  =1.28
The  value of the given motor is greater than 1,so the system exihibits over damped response.
Using the time constant T = 1/(+(2-1)n)
T= 0.224sec
Time required to settle 98% of maximum value is the settling time
Ts = 4* time constant = 4*0.224 = 0.9776 sec
No load speed of the motor = 195 rad/sec
98% of 195 rad/sec is 191.1 rad/sec.
The motor reaches 191.1 rad/sec at the time of 0.9776 sec,which is our calculated settling time.
From the simulation result we obtain the following details.
The required to reach the no load speed of 195rad/sec at  =1.28 is 2 sec.
The time required to reach the no load speech is some where high. To reduce this time,an
additional inductance is connected in series with the armature circuit. By adding inductance in
series with the armature the value of V from 1.28 to 0.805.
Now the time required to reach the desired value of speed of the under damped system
(=0.805) is 0.85 sec.
The current required to reach the desired value of speed of the under damped case it is 85A.
Using the equations (11) and (15) the speed of the machine can be calculated theoretically.
Speed of the motor without load torque and with input = 195 rad/sec
Speed of the motor without input and with load torque = 32.22rad/sec
Resultant speed of the motor when the are applied = 195-32.22
= 162.8rad/sec
Open Loop Operation With Step Input

The simulated block diagram of a separately exited DC motor with step input is as shown
below.
Fig.2.5 Block Diagram of Separately Exited Motor with Step Input

The speed and current responses for no load, full load and as shown in the following diagrams
Fig.2.6,Fig.2.7 and Fig.2.8 respectively.

2.4.1 No Load Response

Fig.2.6 (a) No-Load Speed Response of a Separately Exited DC Motor For Step Input

Fig.2.6 (b) No Load current Response of A Separately Excited DC Motor For Step Input
2.4.2Full load Response
Fig.2.7(a)Full Load Speed Of A Separrately Excited DC Motor For Step Input

Fig Load Current and Speed Response Of A Separately Excited DC Motor For Step Input
2.4.3 Response With 150% Of Full Load

Fig.2.8 Speed and Current Response Of A Separately Exited DC Motor With 150% Of
Full Load.
 The above responses Fig.2.6, Fig. 2.8 clearly show that when a sudden raise of input
voltage (step input) is clearly show that when a sudden raise of input voltage (step input) is
applied to the motor transients are obtained. These transients are due to presence of inductance
in the motor. And also it is observed that the peak current at the starting is high and with in the
permissible value.

2.5 Open Loop Operation With Step Ramp Input

The simulated block diagram of a separately exited DC motor with step ramp input is as
shownbelow.

Fig .2.9 Block Diagram of Separately Exited DC Motor With Step Ramp Input
Here, instead of applying direct ramp input, we applied step-ramp input shown in fig. 2.10 to
the motor, so that the given input wouldn’t exceed the ratings of the motor and output reaches
its steady state value.
 STEP RAMP RESPONSE
120

100

80
I/P IN VOLTS

60

40

20

0
0 2 4 6 8 10 12 14 16 18 20
TIME IN SEC

Fig.2.10 Step Ramp Input

The speed and current responses for fig.2.9 with no load , full load and 150% of full load are
as shown in fig.2.11fig.2.12 and fig.2.13 respectively.
2.5.1 No Load Response

Fig.2.11(a) No Load Speed With Step Ramp Input

Fig.2.11(b) No Load Current Response With Step Ramp Input

2.5.2 With Full Load
Fig.2.12(a) Full Load Speed Response With Step Ramp Input

2.5.3 With 150% Full Load

 Fig .2.13 Speed And Current Responses With 150% Of Full Load

2.6 Open Loop Operation Stepped Input

The simplified block diagram of a separately excited DC motor with

stepped input is as shown in Fig. 2.14. The stepped input to the motor is obtain ed by adding
eleven step inputs of different time delay as shown below.

Fig. 2.14 Block Diagram Of Separately Excited Dc Motor With Stepped Input

The simulated responses of Fig. 2.14 at no load, full load 150% of full load are
As shown in Fig.2.15 below.

2.6.1 No Load Response

,

Fig.2.15(b) No Load Speed Response With Stepped Input

2.6.2 Full Load Response

 CURRENT RESPONSE
30

25

20
current in A

15

10

0
0 2 4 6 8 10 12
time in sec

Fig.2.16 Full load Speed And Current Responses With Stepped Input
2.6.3 150% Full Load Response
 CURRENT RESPONSE
45

40

35

30
current in A

25

20

15

10

0
0 2 4 6 8 10 12
time in sec

Fig. 2.17 Stepped Response With 150% Of Full Load

From Fig. 2.15, and Fig. 2.17 it is clear that the starting current is very less as
compared to the previous cases with step and step ramp inputs.

The response of the motor for various test input signal are tabulated below:-
Table 2.1 Observations For Step Input

Step input
No Load Full Load 150%Full load
Steady state speed(RPM) 1750 1750 1750
Peak current (A) 2.1 27 45
Load current(A) 0.4 15.3 23

Table 2.2 Observations For Step- Ramp Input

Step-Ramp input
No Load Full Load 150%Full load
Steady state speed 1750 1750 1750
Peak current 0.58 27 40
Load current(A) 0.5 15.3 23

Table 2.3 Observations For Stepped Input

Stepped input
No Load Full Load 150%Full load
Steady state speed 194.898 157 138.5
Peak current 3.374 30.973 47.18
Load current(A) 2.83 23.5 33.87
OPEN LOOP SIMULATION

Simulation response
CLOSED LOOP SIMUULTAION
Simulation response
DIODE
STM32F407G
Fig.2
FEATURES OF STM32F407G

The features of the STM32F407 and STM32F417 series of 32-bit microcontrollers. The
STM32F407 microcontroller are based on the ARM Cortex-M4F core with floating-point
maths unit.

• 168MHz STM32F407VGT6 Cortex-M4F core microcontroller with1MB Flash memory,

192KB RAM
• On-board LIS302DL or LIS3DSH MEMS 3-axis accelerometer
• On-board MP45DT02 MEMS audio omnidirectional digital microphone
• On-board CS43L22 stereo audio DAC
• 3.5mm jack socket for stereo headphones
• USB OTG FS Micro-AB connector
• ST-LINK/V2-A USB Mini-B connector
• SWD header
• On-board ST-LINK/V2 with mode selection switch
• 2 x status LEDs: PC to ST-LINK active, +3.3V Power-on
• 2 x USB OTG LEDs: VBus present, VBus over-current
• 4 x User LEDs
• Reset and User pushbuttons
• Extension header for all GPIO
• Power supply: USB VBus or external +5Vdc
• External application power supply output: +3V and +5V
• Dimensions: 97 x 66mm
STM32F407G Block Diagram.
Fig.3
8.2. FUTURE SCOPE:
MATLAB simulation for speed control of permanent magnet DC motor has been done which
can be implemented in hardware to observe actual feasibility of the approach applied in this
thesis. This technique can be extended to other types of motors. In this thesis, we have done
speed control for rated and below rated speed. So the control for above the rated speed can be
achieved by controlling field fluxs