DC Motor

Speed Control
EGEN 5307 F
Presented
By

Name :- Smit Patel

(101317783)
 Objectives

Precise Speed Energy Efficiency Enhanced Integration with

Regulation Performance Modern Systems
Achieve accurate control of Optimize energy usage by Minimize wear and tear by Implement control systems
motor speed under varying dynamically adjusting motor reducing mechanical stress compatible with IoT and
load conditions. operation. through smooth speed embedded applications.
transitions.
 Motivation

SCALABILITY AND FLEXIBILITY

DEMAND FOR PRECISION TECHNOLOGICAL ADVANCEMENTS
AVAILABILITY OF MICROCONTROLLERS AND ADAPTABLE SOLUTIONS ARE CRUCIAL FOR
INDUSTRIAL AUTOMATION AND ROBOTICS
PWM TECHNIQUES MAKES SOPHISTICATED APPLICATIONS LIKE ELECTRIC VEHICLES
REQUIRE PRECISE AND RESPONSIVE
MOTOR CONTROL. CONTROL SYSTEMS ACHIEVABLE.
Importance

Foundation for Energy Efficiency: Saves Adaptability: Enables

Automation: Essential for power and lowers operational diverse applications, from
precision in industries like costs. vehicles to smart devices.
robotics and manufacturing.
 Outlines
• Introduction
• System overview
• Design methodology
• Controllers implementation
• Result
• Controllers comparison
• Conclusion
• References
 Introduction
• A DC motor is an electromechanical device that converts direct current electrical
energy into mechanical energy.
• It consists of key components like a stator, rotors,commuter, brushes and shafts.
DC motors are widely used in applications such as robotics, conveyor systems, and
electric vehicles due to their ease of control and reliability.
• DC motor speed control refers to adjusting and maintaining the rotational speed
of a DC motor to meet desired performance requirements under suitable load or
no conditions.
• The speed control of a DC motor is achieved by regulating the voltage or current
supplied to the motor by using control techniques.
System overview
1. Open loop system

Fig 1.1 Open loop system

 System overview
1.Reference Speed (Wref): The reference speed (Wref) is set as a constant input (459 RPM), which is the desired
speed for the motor. This value is directly fed into the system to define the motor's target speed.
2. Saturation Block: The Saturation Block limits the output control signal to a specified range. In this case, the output
is constrained to the range 0 to 459 RPM, which represents the maximum motor speed.
3. Duty Cycle (PWM Generator): The output from the Saturation block (within the 0 to 459 RPM range) is then
scaled to calculate the duty cycle of the PWM signal. The duty cycle determines the percentage of time the PWM
signal is "on" versus "off," which in turn controls the average voltage sent to the motor.
4. DC Chopper: The DC Chopper circuit takes the PWM signal and adjusts the output voltage applied to the motor.
The voltage provided by the chopper directly influences the speed of the motor, which in turn affects the motor's
RPM.
5. DC Motor Plant: The DC Motor Plant represents the actual DC motor. It responds to the voltage applied by the DC
chopper and operates at a speed that corresponds to the applied voltage.The motor speed is not corrected by any
feedback but is directly determined by the PWM-modulated voltage.
 System overview
2. Closed loop system

Fig 1.2 Close loop system

 System overview
• In the closed loop system, we take the actual speed of the motor as a feedback and
generate the error signal which is the difference of the set speed and the actual speed.
• Following with this, error signal is passed to the controller block which generate the
constrain and control output, and after then the blocks remain same as there in the open
loop system.
 Design Methodology

• PWM waveform generation

• DC step down chopper design
• DC motor design
 Design Methodology
1. PWM waveform generation
• In order to control the speed of the DC motor, we need to control the voltage or current
of the armature of DC motor. Practically, the voltage control method is more effective as
we can control the armature voltage easily using the PWM signal.
• In this system, I used the in build PWM generation block of Matlab by providing the duty
cycle and the switching frequency as an input. The switching frequency of this PWM
generator is 50KHz.
• The duty cycle for this block is generated by adding a gain block that has a gain of 1/Max
speed of the DC motor. In my case, the maximum speed is 459 i.e. gain :- 1/459
 Design Methodology
2. DC step down Chopper design
• A DC step-down chopper, also known as a buck converter, is a type of DC-DC converter that reduces
(steps down) the input voltage to a lower output voltage while maintaining the same polarity.
• The step-down chopper operates in a switching mode, where the power switch (typically a transistor
or MOSFET) rapidly turns ON and OFF.
• The duty cycle is the ratio of the ON time to the total switching period - determines the output
voltage. The output voltage Vout is given by
Vout = D * Vin ( 0 < D < 1)
• For this DC step down chopper, I have used the MOSFET for switching the switch electrically , inductor
and resistor to get the smooth ,without noise, and effective output voltage.
• This DC step down chopper will generate the average Vout voltage , that will be applied to the motor
and helps to control the speed of motor based upon the duty cycle D.
 Design Methodology

Fig 1.3 Step Down Chopper

Specifications
1. Resistor :- 200Ω ( low voltage drop across
load)
2. Inductor :- 8mH( reduces voltage ripple)
 Design Methodology
3. DC Motor design
• The DC Motor that I chose is a PMDC motor, Permanent Magnet DC motor, it’s of Planetary gear type and it’s
an actual product of the Robu company.
• Motor Specifications:-
1. Load Torque ( Tm) :- 0.2 Nm
2. Rated Speed :- 468 RPM ( no load)
3. Armature Resistance ( Ra) :- 1 Ω ( At rated speed , with Em equal to Va)
4. Armature Inductance :- 0.004 mH (Arbitary chosen)
5. Torque Constant (Kt) :- 0.49Nm
6. Back Emf Constant (Ke) :- 0.29 Vs/rad
7. Total Inertia (J0) :- 0.00014 kgm2
Design Methodology

Fig 1.4 DC Motor

 Controllers Implementation
1. Proportional Controller ( P )
• The speed control of the DC motor is controlled by the implemented controllers. These controllers
determine the proper actuating signal that should be delivered to the actuator , following with the
plant in order to mitigate the error and get the desire point.
• Here in this case, I implemented the proportional control first in order to control the speed of DC
motor. However, by using only the proportional control with Kp = 1.15, I stabilized the output
response to a specific point with a high steady state error.
• The tuning of the ,proportional constant , Kp was done manually using the try and error approach. I
started tuning the Kp manually from Kp = 0.1 and reach to critical Kp = 1.20. Increasing Kp further
from this critical Kp allow to generate more oscillations ,reduce performance and eventually make
the system unstable.
Controllers Implementation

Fig 1.5 Proportional Controller Output – Kp = 1.15

 Controllers Implementation
2. Proportional – Integral Controller ( PI )
• The proportional controller, i.e Kp = 1.15, aids to get the fast system response and stabilizethe system
around any particular output value. However, from the P controller, I still have the error which is too
high for any set RPM.
• In order to decrease this error, I need to combine the integral controller with the P controller, that will
make the PI controller. The integral part addresses accumulated error over time. Even if the error
becomes small (but not zero), the integral term will keep increasing the control signal to eliminate
steady-state error.
• The PI controller eliminates the error, gives the response fast and improves stability further.
• The integral constant I got by manual tuning is around Ki = 9.8 for my system. For the Ki = 9.8, the
response time is low that the Ki = 5.8 and 7.4. If the Ki increases further than this one, the system faces
more integral windup, slow response time , overshoot and oscillations.
• Moreover, for the PI controller, I have also used the anti-integral technique named clamping, in order
to prevent the integral windup.
Controllers Implementation

Rise time :- 0.585 s

Settling Time :- 1.14 s

Fig 1.5 Proportional Integral Controller Output – Ki = 5.8

Controllers Implementation

Rise time :- 0.399 s

Settling Time :- 0.76 s

Fig 1.6 Proportional Integral Controller Output – Ki =9.8

 Controllers Implementation
3. Proportional – Integral – Derivative Controller ( PID)
• The PI controller , which has Kp = 1.15 and Ki = 9.8, allows to get the fast response with the stable
desire output.
• However, there is still a challenge to increase the output response of the system, a desire to get
the output close to the desired set point immediately. The derivative controller is a type of
controller that focuses on the rate of change of the error signal. The tuned derivative constant is
around Kd = 0.0002. Increasing Kd after this value leads to overshoot.
• When I added the derivative controller in the PI controller, it reduces oscillations, improves
Transient Response (low rise time), increases stability. Due to the implementation of derivative
controller, the rise time further decreases and the output responses more faster than the PI
controller response.
Controllers Implementation

Fig 1.7 Proportional Integral Derivative Controller Output

Result

Fig 1.8 Speed values Comparison

Controllers Comparison

Sr No Controlle Stability Response Steady

r State
Error
1 P Stable Slow Extremely
High

2 PI More Fast Low

Stable

3 PID Highly Extremely Extremely

Stable fast Low

Table 1.1 Controllers output comparison

 Conclusion
• All in all, In this project , I designed a dynamic system and implemented that
system with different controllers , that control the speed of my motor, like P,
PI and PID.
• Among all the controllers tested, the PID controller proved to be the most
effective for dynamic system. The PID controller provided the best
performance, offering fast response, high accuracy, and stability, making it the
ideal choice for this application.
• The proportional term helped in stabilizing the output with steady state error,
derivative term helped reduce oscillations, while the integral term eliminated
steady-state errors, ensuring the motor maintained the set speed without
deviation.
 References
[1] A.A.Sadiq, G.A.Bakare, E.C.Anene, H.B.Mamman, ”A Fuzzy-Based Speed Control of DC Motor Using Combined Armature Voltage and
Field Current”, 3rd IFAC International Conference on Intelligent Control and Automation Science, Chengdu, China, September 2-4, 2013.
[2] D.Puangdownreonga, A.Nawikavatana, C.Thammarat, “Optimal Design of I-PD Controller for DC Motor Speed Control System by
Cuckoo Search”, 2016 International Electrical Engineering Congress, iEECON2016, Chiang Mai, Thailand, 2-4 March 2016.
[3] Mohamed Amine Benbrahim, Afef Abdelkrim, Mohamed Benerjeb, “Soft Computing approaches of modelling and control of a DC
machine”, IEEE 7th International Conference on Modelling, Identification and Control (ICMIC 2015) Sousse, Tunisia - December 18-20,
2015.
[4] Kaushik Ranjan Das, Diptanu Das, Joyashree Das, “Optimal Tuning of PID Controller using GWO Algorithm for Speed Control in DC
motor”, IEEE 2015 International Conference on Soft Computing Techniques and Implementations- (ICSCTI) Department of ECE, FET, MRIU,
Faridabad, India, Oct 8-10, 2015.
[5] Ermira Buzi, Petraq Marango, “A Comparison of conventional and nonconventional methods of DC motor speed control”, 15th
Workshop on International Stability, Technology, and Culture, The International Federation of Automatic Control June 6-8, 2013. Prishtina,
Kosovo.
[6] Surekha Bhusnur, Shashwati Ray, “Robust control of integrating systems using CDM-based two-loop control structure” Int. J. Reliability
and Safety, Vol. 5, Nos. 3/4, 2011.
Questions
 Thank you
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