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Technological: Coep Universcity Pune

The document presents a project review on DC motor speed control, detailing the importance of speed control in various applications and methods such as Armature Voltage Control and Field Flux Control. It includes mathematical modeling for both methods and concludes that combining them enhances efficiency and speed range for industrial applications. The review is guided by Prof. Dr. A. G. Thosar and includes references for further reading.

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6 views18 pages

Technological: Coep Universcity Pune

The document presents a project review on DC motor speed control, detailing the importance of speed control in various applications and methods such as Armature Voltage Control and Field Flux Control. It includes mathematical modeling for both methods and concludes that combining them enhances efficiency and speed range for industrial applications. The review is guided by Prof. Dr. A. G. Thosar and includes references for further reading.

Uploaded by

dindevishakha
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© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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COEP TECHNOLOGICAL UNIVERSCITY PUNE

DEPARTMENT OF ELECTRICAL ENGINEERING


MASTER OF TECHNOLOGY FY 2025(ECS)
PROJECT REVIEW
DC MOTOR SPEED CONTROL

P R E S E N TAT I O N B Y:
UNDER THE GUIDANCE OF
M S . V I S H A K H A V. D I N D E
PROF. DR. A. G. THOSAR
MIS NO. 712436019
CONTENT

1. Introduction
2. Some basic terms
3. Why speed control is required
4. Speed control method
5. Mathematical Modelling of Armature Voltage Control

6. Mathematical Modelling of field flux Control


INTRODUCTION

 A DC motor is an electric motor that converts


direct current (DC) electrical energy into
mechanical energy, commonly used to drive
machines and equipment.

 It operates on the principle of electromagnetism,


where a current-carrying conductor in a magnetic
field experiences a force, causing the motor to
rotate.

 DC motors are widely used in applications like


Fig.1 Quadcopter Structure
electric vehicles, robotics, conveyors, and
household appliances due to their speed control
and efficiency
•.
TERMS

 Base Speed : The speed at which a motor runs at rated armature voltage and rated field current. It is
rated speed or nameplate speed of the motor.
 Speed Regulation : It is ratio of speed change from no load to full load to the rated speed.
 Speed range : It is the ratio of maximum allowable speed to the minimum allowable speed of the motor.
It is always specified with type of load i.e. at full load, no load or a fraction of full load.
WHY SPEED CONTROL IS REQUIRED ?

 Application-Specific Needs: Speed control ensures the motor operates at the


required speed for various applications.
 Enhanced Performance: It ensures efficient energy use and accurate operation
in processes requiring precision.
 Handling Variable Loads : Maintains smooth performance under load condition.
 Increased Durability: Prevents excessive wear and tear, extending the motor's
lifespan.
SPEED CONTROL METHOD

Armature Voltage Control

i. Varying the voltage applied to the armature changes the speed.


ii. Suitable for a wide range of speed control.
iii. Common in industrial applications using variable power supplies.
Field Flux Control

i. Adjusting the field current to vary the magnetic flux.


ii. Decreasing the field current increases speed.
iii. Used for speed above the motor’s rated value.
MATHEMATICAL MODELLING OF ARMATURE
VOLTAGE CONTROL

Consider the armature controlled DC motor, In


this system,
The field is kept constant and the armature voltage
is going to vary
The differential equation of the armature circuit is
𝑑 𝑖𝑎
𝐿𝑎 + 𝑅 𝑎 𝑖 𝑎+ 𝑒𝑏 =𝑒 𝑎 …….(1)
𝑑𝑡

Where,
Ra - Armature resistance in (ohm)
La – Armature inductor in (H)
– Armature current in (A)
Eb – Back emf in (V)
Ea – Source voltage (V)
The DC motor torque is proportional to flux and current
𝑇 𝑚= 𝐾 𝑇 𝑖 𝑎 ……(2)
Where,
Tm – Motor torque
Kt - Torque constant
Mechanical system torque equation of motor is

J ……(3)

Where,
J – Moment of Inertia of motor and load in (Kg-m2)/rad
Θ – Angular displacement of shaft (Rad)
Fo – Frictional coefficient of motor and load (N-m-sec/rad)

The back emf of DC motor is proportional to angular


velocity(Speed) of shaft

𝑑𝜃 ……(4)
𝑒 𝑏= 𝐾 𝑏
𝑑𝑡
Where,
Kb – Back emf constant
Transfer Function of the motor

……(5)

State Space Model of DC Motor:

= +
MATHEMATICAL MODELLING OF FIELD FLUX
CONTROL

In field flux control, the flux ϕ is controlled by


adjusting the field current . The motor torque is
related to the flux as:

The relationship between ϕ and is typically


linear, with:

……(1)

So
Where,
Tm – Torque developed by motor(Nm)
Kt – Torque constant
The equation of field circuit

𝑑 𝑖𝑓 ……(2)
Where,
𝑅 𝑓 𝑖 𝑓 + 𝐿𝑓 =𝑒 𝑓 Rf – Field winding resistance in ohm
𝑑𝑡
Lf - Field winding Inductance in H
e – Field control voltage in volt
The torque equation is If – Field current in Amp
J – Moment of inertia of motor and load in (Kg-m2)
F – Frictional coefficient in Nm-sec/rad
J ……(3)

Transfer function of system

……(4)
State space model of motor
CONCLUSION

In DC motor speed control,


• Armature Voltage Control is effective for speeds below the rated speed, providing high
torque and operating in the constant torque region.
• Field Flux Control is suitable for speeds above the rated speed, operating in the
constant power region by reducing field flux but with reduced torque.
• Combining both methods ensures a wider speed range and improved efficiency, making
it ideal for various industrial applications.
THANK YOU!!!

REFERRENCES
• Control System Engineering by LJ. Nagrath and M. Gopal
• Juang, J.-N., Applied System identification. New Jersey. NASA Langley
Research Center. PTR Prentice Hall Englewood Cliffs,1994
• R. Isermann, Process fault detection based on modeling and
estimation methodsa survey, Automatica 20 (4) (1984) 387–
404
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