Speed control of DC motor

Separetely Excited DC MOTOR

Presented by: Masoud Kamoleka

 Introduction
• An important factor in industrial progress during the past five decades has
been the increasing sophistication of factory automation which has
improved productivity manifold. Manufacturing lines typically involve a
variety of variable speed motor drives which serve to power conveyor
belts, robot arms, overhead cranes, steel process lines, paper mills, and
plastic and fiber processing lines to name only a few
• More demanding drives used in machine tools, spindles, high-speed
elevators, dynamometers, mine winders, rolling mills, glass float lines, and
the like have much more sophisticated requirements and must afford the
flexibility to allow for regulation of a number of variables, such as speed,
position, acceleration, and torque. Such high-performance applications
typically require a high-speed holding accuracy better than 0.25%, a wide
speed range of at least 20:1, and fast transient response, typically better
than 50 rad/s, for the speed loop. Until recently, such drives were almost
exclusively the domain of DC motors combined with various configurations
of AC-to-DC converters depending upon the application. With suitable
control, however, induction motor drives
 Historical Background
• DC motors were first developed in the early 19th century and continue to be used today.
Ányos Jedlik is credited as being the first to experiment with DC motors in 1827. William
Sturgeon (1832) and Thomas Davenport (1837) are credited with taking Jedlik’s
laboratory instrument and trying to commercialize it. It wasn’t until 1871 when Zénobe
Gramme’s design of a dynamo was accidentally connected to a second dynamo that was
producing a voltage that the DC motor we think of today start to turn and do work.

• The DC motor reigned alone in the factory for only 11 years. In 1888, Nicola Tesla
stepped into the factory with today’s well known three-phase electric system and the AC
induction motor has been taking work away from the DC motor ever since.
Classification of DC Motor:
• DC shunt motor
• DC series motor
• Brushless DC motor
• Compound motors
• Separately exited DC motor
• Self-exited DC motor these are further classified into several types,
 Speed Control of DC Motors:
• the speed of a motor is given by the relation

Where Ra is armature circuit resistance. It is obvious that the speed can

be controlled by varying
(i) Flux/pole, Φ (Flux Control)
(ii) Resistance Ra of armature circuit (Rheostat Control) and
(iii) Applied voltage V (Voltage Control).
Speed Control of Shunt motor:
• Variation of Flux or Flux Control Method: In Fig 1, by decreasing the
flux, the speed can be increased and vice versa. The flux of a dc motor
can be changed by changing Ish with help of a shunt field rheostat.
Since Ish is relatively small, shunt field rheostat has to carry only a
small current,

Figure 1: Variation of Flux or Flux Control Method

Speed Control of Shunt
motor:
Armature or Rheostatic Control
Method: This method is used
when speeds below the no-load
speed are required. As the
supply voltage is normally
constant, the voltage across the
armature is varied by inserting a
variable rheostat in series with
the armature circuit. As
controller resistance is
increased, voltage across the
armature is decreased, thereby
decreasing the armature speed.

Figure 2: Armature or Rheostatic Control Method

 • The field windings are used to excite the
field flux. Armature current is supplied
Separately excited DC to the rotor via brush and commutator
for the mechanical work. Interaction of
motor field flux and armature current in the
rotor produces torque.
• In Fig 3,When a separately excited 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 if is independent of the ia. Each
winding is supplied separately. Any
change in the armature current has no
Figure 3: Separately excited DC motor effect on the field current.
• The if is normally much less than the ia.
 • We can also control the dc motor, that is
Field Speed Control of a vary its speed by varying the field flux.
The method of control is generally used
Separately Excited Dc when the motor has to run above its
Motor rated speed. To understand the
operation of field control, suppose that
the dc motor running at a constant
speed. If the field current is reduced by
reducing the voltage across the field coil,
the flux density will be reduced. This will
reduce the back emf instantaneously and
will cause armature current to increase
resulting in the motor speed increasing.
Consequently, the back emf will increase
and a new equilibrium will be established
at a higher speed. With field control one
can achieve as high a speed as five time
the rated speed. The armature current,
ia, is kept constant and the flux density B
is varied by varying if
 Model of Separately • Figure 4 shows a model of separately
Excited DC motor & PWM excited DC motor. When a separately
Techniques excited 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 If is
independent of the Ia. Each winding
is supplied separately. Any change in
the armature current has no effect
on the field current. The I f is
normally much less than the Ia. The
relationship of the field and
Figure 4: shows a model of separately excited DC
motor
armature are shown in below
Equation
Model of Separately Excited
DC motor & PWM Techniques
Instantaneous field current:

Where Rf and Lf are the field resistor and inductor resp.

Instantaneous armature current

Where Ra and La are the armature resistor and inductor resp.

The motor back EMF which is also known as speed voltage is
expressed as

Where Kv is the motor constant (in V/A-rad/s) and w is the

motor speed (rad/s).
Model of Separately Excited DC
motor & PWM Techniques
The torque developed by the motor is Td = K ɸ if

Where (Kt=Kv) is the torque constant (in V/A-rad/s).

Sometimes it is written as: Td = Kt ɸ ia

For normal operation, the developed torque must be equal to

the load torque plus the friction and inertia, i.e.:
Td = J dw / dt +Bw + TL
where
B = viscous friction constant (N.m/rad/s)
TL = load torque (N.m)
J = inertia of the motor (kg.m2)
Model of Separately Excited DC
motor & PWM Techniques
Under steady-state operations, a time derivative is zero.
Assuming the motor is not saturated.
For field circuit, Vf = Rf if
The back EMF is given by: eg = Kv w if
The armature circuit, Va = Ia Ra + eg = Ia Ra + Kv w if

The motor speed can be easily derived:

W = (Va - Ia Ra) / Kv if
If Ra is a small value (which is usual), or when the motor is lightly
loaded, i.e. Ia is small,

W = Va / Kv If
That is if the field current is kept constant, the speed motor
speed depends on the supply voltage. These observation leads
to the application of variable DC voltage to control the speed
and torque of DC motor.
PWM TECHNIQUE

PWM is a method for binary

signals generation, which has
2 signal periods (high and
low). The width (W) of each
pulse varies between 0 and
the period (T). The main
principle is control of power
by varying the duty cycle.
Here the conduction time to
the load is controlled. Let for
a time t1, the
input voltage appears across
the load i.e. ON state and for
t2 time the voltage across the
load is zero.
Speed Control by Using
PWM and Full H Bridge
Motor Drive
Figure 5: Simple Motor Circuit
Let us consider a simple circuit that connects a
battery as power supply through a switch MOSFET
(Metal-Oxide-Semiconductor Field Effect Transistor)
as shown in Figure 5. When the switch is closed, the
motor sees 12 Volts, and when it is open it sees 0
Volts. If the switch is open for the same amount of
time as it is closed, the motor will see an average of
6 Volts, and will run more slowly accordingly. This
on-off switching is performed by power MOSFETs. A
MOSFET (Metal-Oxide-Semiconductor Field Effect
Transistor) is a device that can turn very large
currents on and off under the control of a low signal
level voltage. The average of voltage that supply to
DC motor is given by,
Where Vavg = average voltage supply to DC motor
ton = time ON of switches
T = period of PWM
(ton / T) =DC duty cycle
Speed Control by Using
PWM and Full H Bridge
• As the amount of time that the
Motor Drive voltage is on increases compared
with the amount of time that it is off,
the average speed of the motor
increases and vice versa. The time
that it takes a motor to speed up and
slow down under switching
conditions is depending on the
inertia of the rotor (basically how
heavy it is), and how much friction
Figure 6: PWM Signal and load torque there is. Figure 4
shows the speed of a motor that is
being turned on and off fairly slowly:
Speed Control by Using • We can see that the average speed
PWM and Full H Bridge is around 150 rpm, although it
Motor Drive
varies quite a bit. If the supply
voltage is switched fast enough, it
won’t have time to change speed
much, and the speed will be quite
steady. This is the principle of
switch mode speed control. Thus
the speed is set by PWM – Pulse
Width Modulation.

Figure 7: Relation of supply voltage with motor speed

 Speed Control by Using PWM
and Full H Bridge Motor Drive
Hardware Design and Implementation
Figure 8: Block diagram of automatic speed control system.
• In Fig 8, the AT89C51 microcontroller
implements the control algorithm by
conditioning the speed and current
signals and performance the speed
regulation according to speed
reference fed through the switch. The
software includes a routine to read
the motor current and sends
emergency shutdown signal to protect
the dc motor from over current, also
this signal can be activated manually
by inserting a designated character by
the switch, which causes a software
interrupt and executes the emergency
shutdown routine. The hardware
control system includes the dc shunt
motor, power circuit, AT89C51
microcontroller, speed sensor (shaft,
encoder), and current sensor.
 Speed Control by Using
PWM and Full H Bridge
Motor Drive
• The hardware of the
microcontroller includes mainly
the AT86C51 system with LCD and
keypad for user interface.
Changing the terminal voltage by
means of DC to DC chopper (the
power circuit) that is controlled by
the microcontroller generated
PWM signal controls the speed of
the motor.

Figure 9: DC motor control hardware block Diagram.

Speed Control by Using
PWM and Full H Bridge • The motion of a DC motor is controlled
Motor Drive using a DC drive. DC drive changes the
speed and direction of motion of the
motor. Some of the DC drives are just a
rectifier with a series resistor that
converts standard AC supply into DC and
gives it to the motor through a switch
and a series resistor to change the speed
and direction of rotation of the motor.
But many of the DC drives have an inbuilt
microcontroller that provides
programmable facilities, message display
on LCD, precise control and also
protection for motors. Using the DC drive
you can program the motion of the
motor, i.e., how it should rotate.
Speed Control by Using PWM and Full H Bridge Motor Drive

Here are some of the features of this DC motor controller:

a) Controlled through microcontroller AT89C51.
b) Message displayed on the LCD module.
c) Start, stop and change of direction of the motor controlled by pushbutton
switches and indicated by LED.
d) Changes the running mode of the motor to continuous, reversible or jogging.
e) Changes the speed of the motor.
f) Time settings are possible for forward and reverse running of the motor.
 Result & Discussion
This speed control technique is more advisable in modern Automation
system because of its flexibility, its is applicable to achieve the following
motion and positioning, that the older methods difficult to achieve

• Continuous mode. The motor rotates continuously with the set speed in
either direction
• Reversible mode. The motor reverses automatically after the set time
• Jogging mode. The motor rotates for the set time in either direction and
then stops for a few seconds and again rotates for the set time. It is also
called ‘pulse rotation’
 Conclusion
The aim was to design a DC motor speed control system
by using microcontroller PIC AT89C51. It is a closed-loop
real time control system. The controller will maintain the
speed at desired speed when there is a variation of
switch. By varying the PWM signal from microcontroller to
the motor driver, motor speed can be controlled back to
desired value easily.
 References
1. Y. S. E. Ali, S. B. M. Noor, S. M. Uashi and M. K Hassan” Microcontroller Performance for DC Motor Speed Control” O-7803-
8208©2003 IEEE.
2. Pierre Guillemin “Fuzzy Logic Applied to Motor Control” IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS, VOL. 32, NO. 1,
JANUARY/FEBRUARY 1996.
3. Yodyium Tipsuwan, Mo-Yuen Chow “Fuzzy Logic Microcontroller Implementation for DC Motor Speed Control” O-7803-
8208©1999 IEEE.
4. Singari.v.s.r Pavankumar, Sande.krishnaveni, Y.B.Venugopal, Y.S.Kishore Babu, “A Neuro- Fuzzy Based Speed Control of
Separately Excited DC Motor”, IEEE Transactions on Computational Intelligence and Communication Networks, pp. 93-98, 2010.
5 Moore, A.W. Phase-Locked Loops for Motor-Speed Control. IEEE Spectrum, April 1973. 61-67.
6. Christopher A. Adkins and Michael A. Marra, Modeling of a Phase-Locked Loop Servo Controller with Encoder Feedback. IEEE
Spectrum, August 1999. 51-56
7. P. C. Sen and M. L. MacDonald. Thyristorized DC Drives with Regenerative Braking and Speed Reversal. IEEE Transactions on Energy
Conversion, 1978, Vol. IECI-25, No.4: 347-354.
8. L. Samet, N. Masmoudi, M. W. Kharrat, and L. Kamoun, “A digital PID controller for real-time and multi-loop control: A comparative
study,” in Proc. IEEE Int. Conf. Electron., Circuits and Syst., Sep. 1998, vol. 1, pp.291–296.