CONTROL

SYSTEMS
MODELLING,ANALYSIS AND
CONTROL OF A DC COMPOUND
MOTOR

R.B.S.Yaswanth
18BEC7121
AIM and INTRODUCTION:
The main aim of this experiment is to model analyse and control a DC compound motor. The
DC compound motor is a combination of both the series and shunt Motors. we already know
that a shunt motor has as high speed and a series motor provide cells with high starting torque.

Controlling of this compound DC motor means analysing and checking where some
corrections could be done In order to achieve the same speed and torque there is a change in
some external factor such as torque load.Here the outputs to be observed are the Rotor
speed,electromagnetic torque,armature current and the field current.
Wr:Rotor Speed

Te:Electromagnetic Torque

Ia:Armature current If:Field

Current

BASIC MODELLING OF THE SYSTEM OF A COMPOUND DC MOTOR:

There are two ways using which we could model a control system,they are :

1)Transfer function analysis

2)State space analysis

Here the case is where there are multiple inputs and there are 4 outputs to be observed,and the
system is a time variant,thus in this case we can go only for state space analysis,and not for a
transfer function analysis.
The inputs which we give here are:

1)Electrical energy

2)Load
From the input side we will not have any disturbances because they remain constant

Thus we will be studying the system based on the load.

*We have two circuits

1)Field circuit

2)Armature circuit

The speed of the motor can be controlled by changing any of the above

Important Note

There is also another way to change the speed that is by varying the moment of inertia
i.e J.Using PID,Fuzzy logic etc we can change J.

How could you control speed by changing j??

Whenever there is a change in load ,i.e if the load increases the speed of the rotor comes
down.When the load is decreased the speed of the rotor comes down,in this situation we can
inject J ,so that the speed remains constant.

STATE SPACE ANALYSIS

In state space analysis any equation can be represented in the following manner

(dX/dt=AX+B)

Here X is the parameter that varies due to external circumstances such as load.X is the output
that we measure or observe finally,we should be writing this differential form of output in
terms of the inputs eg: series field inductance etc

MODEL OF A COMPOUND DC MOTOR USING MATLAB

OBSERVATIONS:

OBSERVED
GRAPH:
 CONCLUSIONS:
1)When both the load and the moment of inertia are kept constant ,we observe the above graph.

2) Rotor speed:

We already know that a compound motor should inculcate both the properties of high
speed and high torque.

When we talk about high speed we see that the speed graph initially started off well with a
peak and then has come to a steady state after some time

3) Electromagnetic torque:

When we speak about the torque produced initially we need some high torque during the
process and then the amount of torque produced will also

eg:elevator
READINGS WHEN THE TORQUE LOAD IS VARIED AND J KEPT
CONSTANT

Torque Speed(rad/se Torque(em) Armature Field Transient

load.kg c) current(A) current(A) time(s)

0 150 0 0 1.5 4.23

20 55 20 4 1.467 5.1

40 42 40.04 5.9 1.467 5.28

60 35.5 60.00 7.31 1.467 6.3

80 31.8 70.99 8.53 1.467 7.195

100 28.52 100 9.54 1.467 7.196

120 26.5 120.14 10.53 1.467 12.8

READINGS WHEN MOMENT OF INERTIA IS VARIED AND LOAD KEPT

CONSTANT:

J(kg.m^2) Speed(rad/se Torque(em) Armature Field Transient

c) current(A) current(A) time(s)

0 55.31 19.06 3.949 1.5 41.94

20 49.69 25.12 4.692 1.467 48.19

40 48.73 27.62 4.384 1.467 40.113

60 44.80 31.15 5.159 1.467 60.263

80 43.13 34.37 5.439 1.467 58.010

100 47.30 37.81 5.724 1.467 59.637

120 46.60 39.76 5.033 1.467 135.732

 CONCLUSIONS WHEN TORQUE LOAD IS
VARIED

GRAPH WHEN TORQUE LOAD IS ZERO:

1) We observe that the rotor speed has reached a steady state after a certain time.

2)We see that there is a significant change or drop in the electromagnetic torque.This is because
initially when there is no load connected that is when the load is zero the motor starts with a
very high speed but when its senses no load there will be a significant drop in the
electromagnetic torque.

Why isn’t there any significant change in the field current whereas there is a change
in the armature current??

Explanation:Here we have nothing to do with the field current because we are changing the
load which effects the armature resistance and thus the armature current increases.

Why there is a significant drop in the armature current when the torque load is zero ??

The armature current is directly proportional to the torque load and thus when it senses
 that there is no load the armature current also comes down significantly.

3) When the load is increased we observe that the speed comes down.

4)We also observe that the time taken to reach the steady state also increases as the load is
increased.

CONCLUSIONS WHEN MOMENT OF INERTIA IS VARIED:

1)Inertia is a factor that opposes the change in the rotation.Thus we see that there is a
decrease in the torque speed as the moment of inertia is increased.

2)According to the law of conservation of energy the energy is neither created nor
destroyed.

3)We know that mechanical power=(2*pi*N*T)/60,When Torque load is increased N will

decrease and thus the resultant electromagnetic torque increases

4) The transient time also increases with the increase in J.

IMPORTANT OBSERVATION:

The addition of load is being done in a parallel manner thus the resultant resistance
decreases and the armature current increases.

ADDITION OF EXTRA LOAD IN INTERMEDIATE STAGE:

1)Using the switching logic we increase the load by 20 kg in the duration of 6 to 16
seconds.

2)As there is increase in load we observe a dip in the speed of the rotor in that particular time.

3) Now we could compensate this by addition of J in that particular time period.

GRAPH WHEN EXTRA LOAD IS ADDED IN INTERMEDIATE STAGE

Now using the same switching logic we make the moment of inertia equal to 100 during the
duration of 6 to 16 seconds.

COMPENSATION MODEL:
OBSERVED
GRAPH:

CONCLUSION:

As we increase the moment of inertia,the opposition for the change in angular velocity
increases and thus during 6 and 16 seconds there will be a resistance towards change.

Thus the actual speed is retained though there is change in external load.

END