CHAPTER 1

1.1 PROJECT INTRODUCTION

The proposed of this project is developed to control the speed of DC (direct
current) motor. This project is also consisting of dc converter, power control
circuit and also gate circuit. The input signal from AC (alternative current) supply
will go through the transformer for stepping down the line voltage to level
suitable for the control circuit at the dc converter and also for the dc motor itself
the power control circuit will produced the smooth without ripple signal for dc
motor input. The power control circuit include with thyristor. The thyristor (SCR)
is line-commutated converter; therefore the firing angle must be delivered
synchronously with the line voltage. The additional circuit called gate circuit is an
external circuit that is needed to generate the firing angle

1.2 project objective

The main objective of this project is to design and integrated the power control
circuit. At the same time this power control circuit also will control the dc motor
speed.

1.3 problem statement

The main problem that can be stated here are, where we could not gate the
smooth input signal without ripples for the speed of dc motor and at the same
time it also could not control the speed range of the dc motor.

1.4 problem solving

The input signal from ac supply is sinusoidal as in figure1.1. After the signal go
through the dc converter the signal will be converted as in figure 1.2. If this signal
go through the dc motor, so the speed range of dc motor will be constant. At the
same time the speed of dc motor also cannot be controlled at all.
1

This situation is not good for the dc motor because it will damage the motor
itself. The dc motor or any other motors need to be worm up first with a very
slow speed before start with heavy load or speed.
For solving this problem we need to add power control circuit to control the
speed of dc motor and to produce a smooth input signal for dc motor. In this
power control circuit there is a thyristor which will firing the angle of control
circuit. As we know the speed of DC motor is consists of voltage, current and also
angle. Thyristor is the only component that provides a controllable power output
by phase angle control, so called because the firing angle (a point in time where
the thyristor is triggered in to conduction) is synchronized with the phase rotation
of the ac power source. If the device is triggered early in half cycle, maximum
power is delivered the motor, late triggering in the half cycle provides minimum
power. The effect is similar to a very high speed switch, capable of being turned
on and conducted of at an infinite number of points with in each half cycle. The
efficiency of this form of power control is extremely high since a very small
amount of triggering energy can enable the thyristor to control a great deal of
output power in dc motor. The final signal input at d c motor speed is as in figure
1.3.
This power control circuit needs another additional external circuit called gate
circuit to generate the firing angle at thyristor. This is because the thyristor itself
with three leads, there are anode, cathode and gate. We need the gate circuit to
be connected to the gate lead.

1.5 SCOPE OF STUDY

In this paper, it has been tried to control the speed of a single phase DC motor
by using thyristor with the help of MATLAB simulation software. The scope is to
study the DC motor characteristic curve at the load terminal.

1.6 SIGNIFICANCE
The speed control of dc motor by using thyristor in general is very useful by
preventing the previously mentioned problems of classical control techniques.
The ultimate result of the study is to have variable speed, in terms of efficiency
and serviceability and to increase or decrease the developed torque.

1.7 Outline of project

This project consists four chapters. In first chapter, it discusses about the
introduction, objective, problem statement, problem solving and scope of this
project as long as summary of works. While Chapter 2 will discuss more on theory
and literature reviews that have been done. It well discuss about introduction of
dc motor, basics of dc motor , features, construction, principle operation,
application of dc motor, dc motor control, basics of speed control .
In Chapter 3, the discussion will be on the different speed control of dc motor
methods using field control, armature control and SCR control and also discuss
about matmatical model of dc motor and block diagram of dc motor speed
control using thyristor. The result and discussion will be presented in Chapter 4.
Last but not least, Chapter 5 discusses the conclusion of this project and future
work that can be done.

CHAPTER 2
2.0 LITERATURE REVIEW
2.1 REVIWE OF CONTROL SPEED MOTOR SYSTEM
A.T.Alexandridis (1997) proposed on the speed control on nonlinear firing
angel control scheme, which is suitable series and shunt connected dc motor
drive system. The design procedure obtains an equivalent linear model of the
system by exact state transformation and feedback rather than by linear
approximations about particular set points. Therefore, large change of the
operating points through the command input or of the external load can be
applied the successfully. In case the simulation results verify an excellent
performance of the dc motor speed control.
M.Nedelikovic (2000) created a new approach to the design of feed forward
fast current controller for SCR is described. This type of current control has
excellent stability and the fastest possible limited only by the DC side inductor. As
in any type of feed forward control, there is a problem of small inaccuracy in
estimating circuit parameters and especially in this case , due to setting the
maximum instant value of current instead of preferable average value .
This problem can be solved with the outer control loop with the PI controller,
which will generate a reference value for maximum instant value of current. For
the sake of simplicity, in this paper, although it can easily be extended to rectifier
with any number of phase.
A new GTO due to converter is proposed by Khan el al. (1988).The two
converters which Constitute the dual converter are always operated
simultaneously permitting a free flow of current from the load of the converter.
The getting pulse pattern is such that no circulating currents flow through the
converters at any time.

This disperses with the need for dc choke and avoids over-rating of the
thyristor, two major drawbacks of circulating current dual converter, while
maintaining good dynamic response and continuity of the load current.

2.2 SUMMRY OF REVIEW

From the above authors reviews , there are a lot methods to control the
speed of DC the motor ,such as dual mode inverter controller , microprocessor ,
SCR , PWM ,by inserting resistance in the armature and field windings .In those
methods we can control the speed of the DC motor but the out puts is not
balanced.
As a conclusion MATLAB/SIMULINK realization of the speed control of the DC
motor SCR is used to control the DC motor easily and it shows controlled wave
form and the characteristics of speed-torque, current-torque, and power-torque

2.3 REVIEW OF SELECTED COMPONENTES

The project proposed uses of DC motor and thyristor to control the speed of dc
motor itself.

2.3.1 INTRODUTION OF DC MOTOR: An electric motor converts electrical

energy into mechanical energy. Most electric motors operate through interacting
magnetic fields and current-carrying conductors to generate force.
Motor Classification:
Direct Current Motors (DC)
Alternating Current Motors (AC)
Asynchronous Induction Motor (ACI)
permanent Magnet Synchronous Motor (PMSM)
Synchronous Brushless DC Motor (BLDC)
Electric motors are found in applications as diverse as industrial fans, blowers and
pumps, machine tools, household appliances, power tools, and disk drives. They
6

may be powered by direct current (e.g., a battery powered portable device or

motor vehicle), or by alternating current from a central electrical distribution grid.

Fig. 2.1 DC Motor

2.3.1.2 BASICS OF DC MOTOR:

A DC motor is designed to run on DC electric power. The most common DC motor
types are the brushed and brushless types, which use internal and external
commutation respectively to periodically reverse the current in the rotor
windings. The three basic types of DC motors are the series motor, the shunt
motor, and the compound motor.
7

 The series motor is designed to move large loads with high starting torque
in applications such as a crane motor or lift hoist.
The shunt motor is designed slightly differently, since it is made for
applications such as pumping fluids, where constant-speed characteristics
are important.
The compound motor is designed with some of the series motor's
characteristics and some of the shunt motor's characteristics. This allows
the compound motor to be used in applications where high starting torque
and controlled operating speed are both required.

2.3.1.3 FEATURES:

Internal commutation
Speed proportionate to voltage applied
Easy to control: ON/OFF, Proportional
Low Cost
Electrical sparks due to commutators
Produce significant EMI!
NOT suitable for deployment in combustible environments
Limited speed due to commutators
Mechanical noise due to commutators
Commutators limit life time.

2.3.1.4 CONSTRUCTION:
The basic components of a DC motor include the armature assembly, which
includes all rotating parts; the frame assembly, which houses the stationary field
8

coils; and the end plates, which provide bearings for the motor shaft and a
mounting point for the brush rigging. The DC motor has two basic parts: the
rotating part that is called the armature and the stationary part that includes coils
of wire called the field coils. The stationary part is also called the stator.
The armature is made of coils of wire wrapped around the core, and the core has
an extended shaft that rotates on bearings .we can also notice that the ends of
each coil of wire on the armature are terminated at one end of the armature. The
termination points are called the commutator, and this is where the brushes
make electrical contact to bring electrical current from the stationary part to the
rotating part of the machine .The coils that are mounted inside the stator are
called field coils and they may be connected in series or parallel with each other
to create changes of torque in the motor. You will find the size of wire in these
coils and the number of turns of wire in the coil will depend on the effect that is
trying to be achieved.

2.3.1.5 PRINCIPLE OF OPERATION:

Fig. 2.2. Principle of Operation

A direct current (DC) motor is a fairly simple electric motor that uses
electricity and a magnetic field to produce torque, which turns the motor. At its
most simple, a DC motor requires two magnets of opposite polarity and an
electric coil, which acts as an electromagnet. The repellent and attractive
electromagnetic forces of the magnets provide the torque that causes the DC
motor to turn.

10

A DC motor requires at least one electromagnet. This electromagnet

switches the current flow as the motor turns, changing its polarity to keep the
motor running. The other magnet or magnets can either be permanent magnets
or other electromagnets. Often, the electromagnet is located in the center of
the motor and turns within the permanent magnets, but this arrangement
is not necessary.
Electrical current is supplied to the coils of wire on the wheel within the
DC motor. This electrical current causes a magnetic force. To make the DC motor
turn, the wheel must have be negatively charged on the side with the negative
permanent magnet and positively charged on the side with the permanent
positive magnet. Because like charges repel and opposite charges attract, the
wheel will turn so that its negative side rolls around to the right, where
the positive permanent magnet is, and the wheel's positive side will roll to
the left, where the negative permanent magnet is. The magnetic force causes
the wheel to turn, and this motion can be used to do work.
When the sides of the wheel reach the place of strongest attraction, the
electric current is switched, making the wheel change polarity. The side that was
positive becomes negative, and the side that was negative becomes positive. The
magnetic forces are out of alignment again, and the wheel keeps rotating. As the
DC motor spins, it continually changes the flow of electricity to the inner wheel,
so the magnetic forces continue to cause the wheel to rotate.

11

2.3.1.6 APPLICATIONS OF A DC MOTOR:

Low power DC motors are particularly useful as speed changes from 0 to 1
are almost instantaneous. Therefore, they can be used successfully in
digital systems.
A low speed, low power brushless DC motor can be found in most
turntable devices, particularly precision turntable devices. Devices with
such motors are things like personal computers, CD and DVD players.
Arguably the most common and useful motors are High Power DC Motors.
These motors are generally used in open systems, and generally used in
systems were torque and power, as well as drive are paramount. Examples
of such systems include electric wheelchairs, electric scooters, Segway,
hybrid cars, as well as in elevators.
Kitchen appliances Power tools
Door locks (example: train doors)
Automotive applications: windows lift, seat adjust, antenna retractor

2.4 DC MOTOR CONTROL

The function of a dc motor which must be controllable for practical use are the
speed, the torque delivered, and direction of rotation. Speed is proportional to
armature back-emf and inversely proportional to field flux. Torque is proportional
to armature current and field flux. Direction of rotation is simply a matter of the
relative polarities of the armature and field voltages. It follows that it is necessary
to control. The armature voltage; back-emf is component of armature voltage.
Thus, assuming the field to be constant, control of armature voltage provides
complete control of speed up to the point where the voltage reaches the
maximum value of which the armature is designed. Armature current is also a
function of armature voltage, so that with in the speed range up to maximum
voltage, torque is controlled by voltage also, provided that the field is fully
excited, the availability of maximum torque is normally maintained from zero
speed up to armature voltage maximum (base speed).

12

2.4.1 Basics of speed control

In order to investigate the modern speed control techniques for motors, we
should first review what determines the speed of a motor- load system. Let as
consider the situation in figure 2.1(a) and (b).it may be noted that two devices are
involved: the motor, which produces a torque Tdev, and the load, producing
acounter torque Tm.in case the motor has significant rotational loss, we shall
combine these with the load for sake of simplicity. Using Newtons second law,
we therefore have
Tdev = J.dw/dt
Where,
Tdev = Electromagnetic Torque developed by the motor, in NM.
Tm = Mechanical torque required by the load, plus motor rotational loss, NM.
J = Moment of inertia of all rotating parts in kg.m2.
W = shaft speed in radian/sec.

13

FIG 2.3 motor load system and torque speed characteristics

14

CHAPTER 3
SPEED CONTROLOF DC MOTOR
3.0 INTRODUCTION
Motors come in a variety of forms, and the speed controllers motor drive
output will be different dependent on these forms. Direct current (DC) motors
have been widely used in many industrial applications such as electric vehicles,
steel rolling mills, electric cranes and robotic manipulators due to precise, wide,
simple and continuous control characteristics.
Traditionally rheostatic armature control method was widely used for the
speed control of low power dc motors. However the controllability, cheapness,
higher efficiency and higher current carrying capabilities of static power
converters brought a major change in the performance of electrical drives. The
desired torque speed characteristic could be achieved by the use of
conventional Thyristor controlled methods. The thyristor dc drive remains an
important speed-controlled industrial drive, especially where the higher
maintenance cost associated with the dc motor brushes is tolerable. The
controlled (thyristor) rectifier provides a low impedance adjustable dc voltage for
the motor armature, thereby providing speed control. In all variable speed drive
systems, power electronic converter acts as an interface which accepts electric
power from the existing source and converts it in a controlled manner into a
suitable form compatible with the particular load or the process for which it is
employed. The main sources for electric power are:
1. Single or three phase 50Hz ac from utility system.
2. Dc from storage batteries or solar cells.
15

The modern converters are compact, cheap, reliable, flexible and completely
controllable. They need reduced maintenance too. For dc motor control,
controlled dc power from a constant ac supply is obtained by means of controlled
rectifiers (converters) using thyristors and diodes. The control of dc voltage is
achieved by varying the phase angle at which the thyristors are fired relative to
the applied alternating waveform. This scheme of phase control is known as
phase control. In another control system, known as integral cycle control, the
current is gated to flow from the ac supply for a number of complete cycles and is
then quenched further for a few cycles, the process being repeated continuously.
Control is applied by adjusting the ratio of on and off durations. This method is
suitable for the control of fractional kW output dc motors.
Phase controlled converters are simple to operate and less expensive as they
do not require additional circuitry for commutation process. In such converters
natural commutation is achieved, i.e., when an incoming thyristor is turned on, it
immediately reverse biases the outgoing thyristor and turns it off. Thereby
obtaining control in both half cycles of ac mains. This rectified voltage is fed to the
armature of dc motor. Hence speed of the motor can be controlled in proportion
with the voltage.

3.1 Different speed control methods of DC motor

Dc machines are generally much more adaptable to adjustable speed service.
The ready availability of dc motors to adjustment of their operating speed over
wide ranges and by a variety of methods is one of the important reasons for the
strong competitive position of dc machinery in modern industrial applications.The
speed of a dc motor can be expressed by the following relationship.
N (V-IaRa)/,

where

N- Speed of motor
Ia- Armature current

16

Ra- Armature resistance

- Flux per pole
V- Applied voltage
It is obvious that the speed can be controlled by varying
Flux per pole
Resistance of armature circuit and
Applied voltage
In other words by
Field control and
Armature control

3.1.1 Field control method:

It is the most common method and forms one of the outstanding advantages of
shunt motors.The method is also applicable to compound motors. Adjustment of
field current and hence the flux and speed by adjustment of the shunt field circuit
resistance or with a solid state control when the field is separately excited is
accomplished simply, inexpensively and without much change in motor losses.The
speed is inversely proportional to the field current.The lowest speed obtainable is
that corresponding to maximum field current. The highest speed is limited
electrically by the effects of armature reaction under weak field conditions in
causing motor instability and poor commutation.

17

Merits:
Good working efficiency.
Compact controlling equipment
The speed is not effected by load and speed control can be performed
effectively even at light loads.
Relatively inexpensive and simple to accomplish both manually and
automatically.
Demerits:
Inability to obtain prefer below the basic speed.
Instability at high speeds because of armature reaction.
Commutation difficulties and possible commutator damage at high speeds.

3.1.2 ARMATURE CONTROL METHODS

3.1.2.1Rheostatic control:
This method consists of obtaining reduced speeds by the insertion of external
series resistance in the armature circuit. It can be used with series, shunt and
compound motors.It is common method of speed control for series motors.This
method is used when speeds below the no load speed is required.
Merits:
The ability to achieve speeds below the basic speed.
Simplicity and ease of connection.
The possibility of combining the functions of motor starting with speed control.

18

Demerits:
The relatively high cost of large, convinously rated, variable resistors capable of
dissipating large amounts of power.
Poor speed regulation for any given no load speed setting.
Low efficiency resulting in high operating cost.
Difficulty in obtaining stepless control of speed in higher power ratings.

3.1.2.2 Voltage control:

When the speed is controlled by regulating the motor terminal voltage while
maintaining constant field current, it is called voltage control. With voltage
control, the change in speed is almost proportional to the change in voltage. The
output varies directly with speed and the torque remains constant. Since the
voltage has to be regulated without affecting the field, the application of voltage
control is limited to separately excited motors.
Merits:
Speed control over a wide range is possible.
This method eliminates the need for series armature starting resistance.
Uniform acceleration can be obtained.
Speed regulation is good.
Demerits:
Arrangement is costly as two extra machines are required.
The overall efficiency of the system is low, especially at light loads.

19

3.2 SCR POWER CONTROLLERS

Since the development of SCR power controllers in the late 1950's, the
power handling capabilities of SCR's (silicon controlled rectifiers) have advanced
from a few hundred watts to many megawatts. As a result, the use of SCR power
controllers in industrial applications has increased dramatically and they are now
used in almost every major industry.SCR power controllers provide a relatively
economical means of power control. SCR power controllers cost less and are more
efficient than saturable core reactors and variable transformers. Compared to
contactors, SCR power controllers offer a much finer degree of control and do not
suffer from the maintenance problems of mechanical devices.

3.2.1Features and benefits of SCR power controllers over other

forms of control include:
High reliability:
Because the SCR power controller is a solid-state device, there are no inherent
wear-out modes. Thus, they provide virtually limitless and trouble free operation.
Infinite resolution:
Power, current or voltage can be controlled from zero to 100% with infinite
resolution. This capability allows extremely accurate, step less control of the
process.
Extremely fast response:
The SCR controller can switch load power on and off extremely fast providing
the means to respond rapidly to command changes, load changes and power
supply changes. This feature allows the control of fast responding loads and
eliminates the negative effects of variations in load or supply voltages that can
occur with other types of control
20

Selectable control parameters:

The SCR power controller can control the average load voltage, the RMS value
of the load voltage, the RMS or the average load current or load power. It can also
provide useful features such as current and voltage limiting. The ability to control
the desired parameter as a function of a command signal and to incorporate
limiting features is not normally available with other types of control.
Minimum Maintenance:
Because they are solid state there are no moving parts to wear out or replace.
Therefore, the routine replacement required in some forms of control is
eliminated.

3.3 Model of Separately Excited DC motor

Figure 3.1 shows a model of separately excited DC motor. When a separately
excited motor is excited by a field current of I f 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
are supplied separately. Any change in the armature current has no effect on the
field current.
The If is normally much less than the Ia. The relationship of the field and
armature are shown in Equation 3.1.

21

Figure 3.1 Model of separately

excited DC motor
Instantaneous field current:

..3.1
Where Rf and Lf are the field resistor and inductor respectively.
Instantaneous armature current:
..3.2
Where Ra and La are the armature resistor and inductor respectively.
The motor back EMF which is also known as speed voltage is expressed as
.3.3
Where Kv is the motor constant (in V/A-rad/s) and w is the motor speed (rad/s).
The torque developed by the motor is
.3.4
Where (K t =Kv) is the torque constant (in V/A-rad/s).

22

Sometimes it is written as:

.3.5
For normal operation, the developed torque must be equal to the load torque
plus the friction and inertia, i.e.:

..3.6

Where B = viscous friction constant (N.m/rad/s)

T L = load torque (N.m)
J = inertia of the motor (kg.m^ 2)
Under steady-state operations, a time derivative is zero. Assuming the motor is
not saturated.

For field circuit,

3.7
The back EMF is given by:
.3.8
The armature circuit,
.3.9
The motor speed can be easily derived:

..3.10
23

If Ra is a small value (which is usual), or when the motor is lightly loaded, i.e. Ia is
small,

3.11
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.

3.4 DC motor Speed Controller

For precise speed control of servo system, closed-loop control is normally used.
Basically, the block diagram and the flow chart of the speed control are shown in
Figure 3.2 and Figure 3.3 respectively. The speed, which is sensed by analog
sensing devices (e.g., tachometer) is compared with the reference speed to
generate the error signal and to vary the armature voltage of the motor.

24

Fig 3.2 Basic block diagram for DC Motor speed control

Fig 3.3 Basic flow chart of DC motor speed control

There are several controllers that can used to control the speed of the
motor such as by using thyristor, phase-locked-loop control, chopper circuit, Fuzzy
Logic Controller and etc. Here, we will discuss only at the speed control system by
using thyristor, phase-locked loop and PWM technique.

3.4.1 Speed Control by using thyristor

Figure 3.4 shows the block diagram of DC motor speed control by using
thyristor. The thyristor is used to supply a variable DC voltage to motor, thus it
can control the speed of motor (Equation 3.11). The average output of voltage is
given by

..3.12
25

Where Vm = peak voltage of voltage supply of thyristor and

= firing angle of thyristor

Figure 3.4 Block diagram of DC Motor speed control by using thyristor

From Equation 3.12, by controlling the firing angle, , the average of output DC
voltage can be varied. If the motor speed is low, the speed sensor frequency will
be below the reference frequency. The frequency difference produces a change
in the firing circuit that causes the thyristor, SCR to fire sooner (firing angle, is
reduced). There is a resulting increase in motor speed which brings the output
speed back up to the value which is equal to the reference signal.
Conversely, if the speed sensor output frequency is above the reference, then the
firing circuit will be modified to allow the SCR to conduct for a shorter period of
time, the decrease in conduction reduces the DC motor speed.

26

CHAPTER FOUR
SIMULATION AND RESULTS
4.0

INTRODUCTION

SimPowerSystems software and other products of the Physical Modeling

product family work together with Simulink software to model electrical,
mechanical, and control systems. SimPowerSystems software operates in the
Simulink environment. Therefore, before starting this user's guide, make yourself
familiar with Simulink documentation. Or, if you perform signal processing and
communications tasks (as opposed to control system design tasks), see the Signal
Processing Block set documentation.

The Role of Simulation in Design

Electrical power systems are combinations of electrical circuits and
electromechanical devices like motors and generators. Engineers working in this
discipline are constantly improving the performance of the systems.
Requirements for drastically increased efficiency have forced power system
designers to use power electronic devices and sophisticated control system
concepts that tax traditional analysis tools and techniques. Further complicating
the analyst's role is the fact that the system is often so nonlinear that the only
way to understand it is through simulation.
SimPowerSystems software is a modern design tool that allows scientists and
engineers to rapidly and easily build models that simulate power systems. It uses
the Simulink environment, allowing you to build a model using simple click and
drag procedures. Not only can you draw the circuit topology rapidly, but your
analysis of the circuit can include its interactions with mechanical, thermal,
27

control, and other disciplines. This is possible because all the electrical parts of
the simulation interact with the extensive Simulink modeling library. Since
Simulink uses the MATLAB computational engine, designers can also use MATLAB
toolboxes and Simulink block sets. SimPowerSystems software belongs to the
Physical Modeling product family and uses similar block and connection line
interface.

SimPowerSystem Libraries
SimPowerSystems libraries contain models of typical power equipment such as
transformers, lines, machines, and power electronics. The capabilities of
SimPowerSystems software for modeling a typical electrical system are illustrated
in demonstration files. And for users who want to refresh their knowledge of
power system theory, there are also self-learning case studies.
The SimPowerSystems main library, powerlib, organizes its blocks into libraries
according to their behavior. The powerlib library window displays the block library
icons and names. Double-click a library icon to open the library and access the
blocks. The main powerlib library window also contains the Powergui block that
opens a graphical user interface for the steady-state analysis of electrical circuits.

Nonlinear Simulink Blocks for SimPowerSystems Models

The nonlinear Simulink blocks of the powerlib library are stored in a special
block library named powerlib_models. These masked Simulink models are used by
SimPowerSystems software to build the equivalent Simulink model of your circuit.

28

fig 4.1 connection diagram

4.1 DC Machine Description

The DC Machine block implements a wound-field or permanent magnet DC

machine. For the wound-field DC machine, an access is provided to the field
terminals (F+, F) so that the machine model can be used as a shunt-connected
or a series-connected DC machine. The torque applied to the shaft is provided at
the Simulink input TL.

29

The armature circuit (A+, A) consists of an inductor La and resistor Ra in

series with a counter-electromotive force (CEMF) E.The CEMF is proportional to
the machine speed.

KE is the voltage constant and is the machine speed. In a separately excited

DC machine model, the voltage constant KE is proportional to the field current If

Where Laf is the field-armature mutual inductance. The electromechanical

torque developed by the DC machine is proportional to the armature current Ia.
Where Kt is the torque constant. The sign convention for Te and TL is

The torque constant is equal to the voltage constant.

The armature circuit is connected between the A+ and A ports of the DC

Machine block. It is represented by a series Ra La branch in series with a
Controlled Voltage Source and a Current Measurement block.
Mechanical part:
In the wound-field DC machine model, the field circuit is represented by an
RL circuit. It is connected between the F+ and F ports of the DC Machine block.
In the permanent magnet DC machine model, there is no field current as the
excitation flux is established by the magnets. KE and KT are constants. The
mechanical part computes the speed of the DC machine from the net torque
applied to the rotor. The speed is used to implement the CEMF voltage E of the
armature circuit.

30

The mechanical part is represented by Simulink blocks that implement the

equation

Where J = inertia,
Bm = viscous friction coefficient, and Tf = Coulomb friction torque.
Preset model
Provides a set of predetermined electrical and mechanical parameters for
various DC machine ratings of power (HP), DC voltage (V), rated speed (rpm),
and field voltage (V).The preset models are only available for the wound-field
DC machine model, that is, when the Field type parameter is set to Wound.
Select one of the preset models to load the corresponding electrical and
mechanical parameters in the entries of the dialog box. Select No if you do not
want to use a preset model, or if you want to modify some of the parameters of
a preset model, as described below.
When you select a preset model, the electrical and mechanical parameters in
the Parameters tab of the dialog box become unmodifiable (grayed out). To
start from a given preset model and then modify machine parameters, you have
to do the following:

Select the desired preset model to initialize the parameters. Change the Preset
model parameter value to No. This will not change the machine parameters. By
doing so, you just break the connection with the particular preset model.
Modify the machine parameters as you wish, then click Apply.

Mechanical input
Allows you to select either the torque applied to the shaft or the rotor speed
as the Simulink signal applied to the block's input. Select Torque TL to specify a
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torque input, in N.m, and change labeling of the block's input to TL. The
machine speed is determined by the machine Inertia J and by the difference
between the applied mechanical load torque TL and the internal
electromagnetic torque Te. The sign convention for the mechanical torque is the
following: when the speed is positive, a positive torque signal indicates motor
mode and a negative signal indicates generator mode.
Select Speed w to specify a speed input, in rad/s, and change labeling of the
block's input to w. The machine speed is imposed and the mechanical part of
the model (Inertia J) is ignored. Using the speed as the mechanical input allows
modeling a mechanical coupling between two machines and interfacing with
SimMechanics and SimDriveline models.
Field type
Allows you to select between the wound-field and the permanent magnet DC
machine.
Armature resistance and inductance [Ra La]
The armature resistance Ra, in ohms, and the armature inductance La, in
henries.
Field resistance and inductance [Rf Lf]
The field resistance Rf, in ohms, and the field inductance Lf, in henries. This
parameter is only visible when the Field type parameter on the Configuration
tab is set to Wound.

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Field armature mutual inductance Laf

The field armature mutual inductance, in henries. This parameter is only
visible when the Field type parameter on the Configuration tab is set to Wound.
For a permanent magnet DC machine, select the machine constant that you
want to specify for block parameterization. The values are Torque constant and
Back-emf constant. This parameter is only visible when the Field type parameter
on the Configuration tab is set to Permanent magnet.
Torque constant
The torque per current constant of the permanent magnet DC machine, in
N.m/A. This parameter is only visible when the Field type parameter on the
Configuration tab is set to Permanent magnet and the Specify parameter above
is set to Torque constant.
Back-emf constant
The voltage per speed constant of the permanent magnet DC machine, in
V/rpm. This parameter is only visible when the Field type parameter on the
Configuration tab is set to Permanent magnet and the Specify parameter above
is set to Back-emf constant.
Total inertia J
The total inertia of the DC machine, in kg.m2.
Viscous friction coefficient Bm
The total friction coefficient of the DC machine, in N.m.s.
Coulomb friction torque Tf
The total Coulomb friction torque constant of the DC machine, in N.m.

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Initial speed
Specifies an initial speed for the DC machine, in rad/s, in order to start the
simulation with a specific initial speed. To start the simulation in steady state,
the initial value of the input torque signal TL must be proportional to the initial
speed.
Sample time (1 for inherited)
Specifies the sample time used by the block. To inherit the sample time
specified in the Powergui block, set this parameter to 1.

Inputs and Outputs

TL (Load Torque)
The block input is the mechanical load torque, in N.m.
W (speed)
The alternative block input (depending on the value of the Mechanical
input parameter) is the machine speed, in rad/s.
M (output)
The output of the block is a vector containing four signals. We can
demultiplex these signals by using the Bus Selector block provided in the
Simulink library.

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This section presents simulation results for the speed control DC motor. The
torque-speed curves for the speed control methods are determined using the
Simulink models presented in the previous section. For this purpose, a 5-Horse
Power (HP) DC motor of 240 V rating 1220 r/min is used in the simulation models.
The equivalent circuit parameters of the motor are: Rf=240
Ohm,Lf=120H,Ra=0.6Ohm.

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4.2 DC Motor Rated Values

WITH OUT RECTIFRE
Induced EMF: Eo =va-Ia*Ra
= 240-16.2*0.6 = 230.3 V
Pe =Eo*Ia
= 230.3*16.2 = 3731 W = 5.0 HP
Field current: If = 240/240 =1 A
Eo = w*Laf*If from this we can find speed as
w = (Eo/La*If) speed w = 230.3/1.8 = 127.7 rad/s = 1220 r/min
Nominal torque: Te = Pe/w = 3731/127.7 = 29.2 N.m\
CALCULATION OF MOTOR CHARACTERSTICS BY USING RECTIFIRE
From the rectifier out put

For alpha=0
Vav=(2*2^0.5*240)*cos 0/3.14
=216.18v
Induced EMF: Eo =va-Ia*Ra
= 216.1-16.2*0.6 = 206.46 V
Eo = w*Laf*If from this we can find speed as
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w = (Eo/La*If) speed w = 206.46/1.8 = 114.7 rad/s = 1095.330 r/min

For alpha=30
Vav=(2*2^0.5*240)*cos 30/3.14
=187.12v
Induced EMF: Eo =va-Ia*Ra
= 187.12-16.2*0.6 = 177.407V
Eo = w*Laf*If from this we can find speed as
w = (Eo/La*If) speed w = 177.407/1.8 = 98.55rad/s = 941.17r/min
For alpha=60

Vav=(2*2^0.5*240)*cos 60/3.14
=108.03v
Induced EMF: Eo =va-Ia*Ra
= 108.03-16.2*0.6 = 98.3179v
Eo = w*Laf*If from this we can find speed as
w = (Eo/La*If) speed w = 8.317/1.8 = 54.62rad/s = 521.592r/min
For the armature voltage control, simulations are performed using the model
shown in Figure 4.1 for three different armature voltages, Va=108.03, 187.127,
216.075and 240V while the voltage applied to the field circuit is kept constant at
its nominal value 240 V.
From the calculation part shown we can find found the wave forms fordefernt
parameters of DC motor as shown below
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Output voltage wave form of thyristor from 240v, 50H frequency

Output speed wave form the dc motor for higher voltage and low voltage
respectively

38

Output torque (Te) wave form the dc motor for higher voltage and low voltage
respectively

39

We thus conclude that speed variation can be adjusted by the method of speed
control using thyristors.

40

CHAPTER FIVE
CONCLUSION AND RECOMMENDATION
5.1Recomendation
To achieve the desired speed of dc motor, it is necessary to control the
output voltage of the Thyristor Bridge. To do this, it is necessary to design
control circuit and pulse generator for triggering the Thyristor Bridge and it
requires carful understanding.

5.2CONCLUSION
Motor speed should be independent of load. Differential drive platform need to
synchronize wheel speed to go in a straight line. Controllability, cheapness, higher
efficiency, current carrying capabilities of static power converters brought a major
change to performance of electrical drives .Excellent control of DC motor drive is
designed using rectifier circuit for formative the optimal speed control. Armature
voltage of dc motor is varied and speed is controlled.
If the current is limited however the torque must also be limited, at the value
coincident with the limited current. The effect that this has on the torque speed
must also be considered. As the load torque increases the speed drops .The motor
torque always equals the load torque when the motor is running at constant speed
(this follows from Newtons first law-An object in motion tends to stay in motion
in the same speed and in same direction unless acted upon by unbalanced force.
The motor torque and load torque must be balanced out if the speed is not
changed).Universal motor generally run at high speed making them useful for
appliances where high RPM operation is desirable.
We successfully controlled speed of DC motor using Thyristor Bridge in
useful range to increase efficiency and deduce losses.

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REFERENCE
1) SIMULINK, Model-based and system-based design, using Simulink,
MathWorks Inc., Natick, MA, 2000.
2) SimPowerSystems for use with Simulink, users guide, MathWorks Inc., Natick,
MA, 2002
4) P.C. Sen, principles of Electrical Machines and power Electronics, John Wiley &
Sons. New York, 1989
5) www.electronics-tutorials.ws/transistor/tran_7.html
6) M. H. Rashid, Power Electronics: Circuits, Devices, and Applications
Prentice Hall, New Jersey, 1988.

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Appendix
Dc =direct current
AC =alternating current
SCR =silicon control rectifier
GTO = gate transistor on
PWM = pulse width modulation
EMI = electromagnetic interface
RPM = revolution per minute
= firing angle of thyristor

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