Electrical Machines 1

Date: March 21, 2024

Speed control and direction of rotation of a

DC motor
Jesus Fortanell Álvarez File:311119

Angel Hernandez Moran File:311120

t = time on the positive side

Index terms: PWM, motor, period, h-bridge, motor speed, T = Period, total time
motor rotation.
Basically, it consists of activating a digital output for a while
I. INTRODUCTION and keeping it off for the rest, thus generating positive pulses
In the following practice, a PWM 'Pulse Wide Modulation' was that are constantly repeated. Therefore, the frequency is
used. This provides the power that controls the width of the constant (i.e. the time between pulses are triggered), while the
pulses, by means of a potentiometer. width of the pulse, the duty cycle, is varied. The average of this
A module will also be used that allows you to change the output voltage, over time, will be equal to the desired analog
direction of rotation of the motor, by means of a circuit known value. [1]
as the H Bridge.

II. THEORETICAL BACKGROUND

Bridge H
The H-bridge is an electronic circuit that is used to control the
movement of motors, particularly direct current motors. Its
name comes from the typical shape of the circuit, which
resembles the letter 'H'. The main purpose of the H-bridge is to
allow an engine to rotate in both directions: forward and
backward.

PWM
Pulse-width modulation. It is used to transmit a signal, whether
analog or digital, it must be modulated so that it is transmitted Figure 1. PWM Duty Cycle
without losing power or suffering distortion due to interference.
III. MATERIALS
PWM is a technique used to transmit analog signals whose
• Bridge H
carrier signal will be digital. In this technique, the duty cycle of
a periodic signal (a sine or a square, for example) is modified, • 2 banana-alligator cables
either to transmit information through a communications • Dual Voltage Source
channel or to control the amount of energy that is sent to a load. • LM 555 Integrated Circuit
The duty cycle of a periodic signal is the width of its positive • Transistor TIP 22
part, relative to the period. It is expressed as a percentage, so a • 2 diodos IN4148
duty cycle of 10% indicates that it is 10 out of 100 at a high • 1kΩ potentiometer
level. • 2 electrolytic capacitors 22μF
Duty cycle = t / T • Resistances

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Date: March 21, 2024
IV. METHODOLOGY Therefore, the resistance would be determined from the
The first thing that was determined was the time that each cycle following value:
lasts, for this the function shown below was determined: 1400.5
𝑅= = 700Ω
1 2
𝑇= To make the connection of the h-bridge, we have to power it
𝑓
T = total time on high and low at 10V, so that it can fulfill its function of sending enough
f = frequency voltage to make the motor turn.
Total time is also represented as the sum of your low time and In this case to control the speed we place the ENA at the
high time output of the PWM, and to change the direction of rotation we
𝑇 = 𝑡1 + 𝑡2 will place the other two pins IN1, IN2 one at 5V and the other
𝑡1 = 𝑡𝑖𝑒𝑚𝑝𝑜 𝑒𝑛 𝑏𝑎𝑗𝑜 part to ground, to reverse the rotation we will only reverse the
𝑡2 = 𝑡𝑖𝑒𝑚𝑝𝑜 𝑒𝑛 𝑎𝑙𝑡𝑜 connection of the two pons, the part we will control will be the
Taking this data, the calculation was made to make a PWM output of motor A, So in that part we will make the engine
of a frequency of 6kHz, for this the following formula of the connection.
integrated circuit was determined
𝑡1 = 0.693(𝑅1 + 𝑅𝑥 )𝐶1

𝑡2 = 0.693(𝑅2 + 𝑅𝑦 )𝐶2

To simplify the circuit, we take the values of the resistors and

capacitors as the same, leaving the equation as follows:
𝑇 = 0.693(𝑅 + 𝑅𝑥 )𝐶 + 0.693(𝑅 + 𝑅𝑦 )𝐶

The potentiometer takes as Rx si maximum resistance and Ry

as the minimum resistance, i.e. 0Ω. Therefore, the circuit will
be as follows:
𝑇 = 0.693(𝑅 + 𝑅𝑥 )𝐶 + 0.693(𝑅)𝐶

𝑇 = 0.693𝐶(2𝑅 + 𝑅𝑥 )
Now we'll perform the calculation to determine the period.
1
𝑇= = 166.666µ𝑠
6000

Clearing the equation:

Figure 2. H-Bridge Connection
16.6666 ∗ 10^ − 6 = 0.693𝐶(2𝑅 + 𝑅𝑥 )

Since we have three free variables, we propose a value for V. EXPERIMENTATION AND RESULTS
capacitance, which must also be a commercial value.
𝐶 = 10 𝑛𝐹
Replacing:

16.6666 ∗ 10−6 = 0.693(220 ∗ 10−9 )(2𝑅 + 𝑅𝑥 )

166.6666 ∗ 10^(−6)
(2𝑅 + 𝑅𝑥 ) = = 2.4050𝑘Ω
0.693(10 ∗ 10^(−9) )

For the potentiometer, a 1kΩ one is proposed

2𝑅 = 2.4050𝑘Ω − 1𝑘Ω = 1.405𝑘Ω

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Date: March 21, 2024

Figure 3. PWM Simulation

Figure 7. Circuit in High.

Figure 4. PWM en high

Figure 8. Circuit in Low.

VI. CONCLUSIONS
A. Overall conclusion
In practice we learned to make a PWM, which allows us to
control the speed of a motor through a pulse speed modulation
that the longer the Hight state, the more speed the motor will
have and the shorter the time the less speed it will have, also
Figure 5. PWM in low. with an h-bridge, it allows us to control the direction of a motor.
B. Individual conclusion
Jesus Fortanell Álvarez:
The practice helped me to understand the operation of a PWM
and also how to connect an h-jumper, to know what parts are
connected to the circuit and how it works in order to change the
direction of rotation of the motor. I also noticed that this was
powered at a different voltage from the circuit.
Ángel Jesús Hernández Morán:
In this p4ractica a PWM was made in which we reinforced what
we saw in other classes, in addition to learning how to use the
H bridge.
Figure 6. Physical circuit.
I. REFERENCES

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Date: March 21, 2024
[1] "Solectro," [Online]. Available:
https://solectroshop.com/es/blog/que-es-pwm-y-como-
usarlo--n38. [Accessed 25 03 2024].