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Control of Separately Excited Dc Motor

Article in Journal of Electrical and Electronics Engineering · May 2011

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 Journal of Electrical and Electronics Engineering 7
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Control of Separately Excited Dc Motor

ALIM Abdul1 and ABUBOKAR Talukdar2

1
University of Chittagong, Department of Applied Physics,
Electronics & Communication Engineering, Chittagong-4331, Bangladesh. E-mail: alimeee@yahoo.com
2
Chittagong University of Engineering & Technology (CUET),
Dept. of Electrical & Electronic Engineering, Bangladesh. Email: ab05cuet@yahoo.com

Abstract – Speed control of separately excited DC and its general-purpose nature [8]. This will demonstrate
motor and performance analysis by software the advantages of using MATLAB for analyzing power
simulation has been done. The objective of this paper system steady state behavior and its capabilities for
is to describe the principle of DC motor speed control simulating transients in power systems and power
using nonlinear combined control (armature voltage electronics and control system dynamic behavior.
and field current) and proportional integral- derivative
(PID) controller for DC motor drives. In the field II. IMPLEMENTATION
control mode, the armature voltage is held constant
and an adjustable voltage is applied to the field. Voltage speed control of a separately excited DC
Simulation models of separately excited DC motor motor: The field current, If is constant (and hence the
have been developed using MATLAB/Simulink. flux density B is constant), and the armature voltage is
varied. A constant field current is obtained by separately
Keywords: Separately excited DC motor, armature exciting the field from a fixed dc source. The flux is
voltage and field current control, performance produced by the field current, therefore, essentials
analysis, simulation.
constant. Thus the torque is proportional only to the
armature current [4].
I. INTRODUCTION
Field speed control of a separately excited dc
Direct current (DC) motors have been widely used in motor: We can also control the dc motor, which is
many industrial applications such as electric vehicles, varying its speed by varying the field flux. The method
steel rolling mills, electric cranes, and robotic of control is generally used when the motor has to run
manipulators due to precise, wide, simple, and above its rated speed. To understand the operations of
continuous control characteristics. Traditionally rheostat field control suppose that the dc motor running at a
armature control method was widely used for the speed constant speed. If the field current is reduced by
control of low power dc motors. One method of speed reducing the voltage across the field coil, the flux
control is applicable for speeds below rated or base density will be reduced. This will reduce the back emf
speed by Controlling Terminal Voltage VT and keeping instantaneously and will cause armature current to
If or Φ constant at rated value. Another method of speed increase resulting in the motor speed increasing.
control is applicable for speeds below rated speed by Consequently the back emf will increase and a new
equilibrium will be established at a higher speed. With
Controlling (reducing) Field Current If or Φ and keeping
field control one can achieve as high a speed as five
VT at rated value [2, 3]. The desired torque-speed
times the rated speed [1, 2]. The armature current, Ia, is
characteristics could be achieved by the use of
kept constant and the flux density B is varied by varying
conventional proportional integral- derivative (PID)
I f.
controllers. As PID controllers require exact
Combined armature and field control of
mathematical modeling, the performance of the system
separately excited DC motor: The speed of a
is questionable if there is parameter variation [1, 5].
separately excited dc motor could be varied from zero to
This paper lies in the application of PID controller for
rated speed mainly by varying armature voltage in the
the speed control of separately excited dc motor.
constant torque region. Whereas in the constant power
Simulation results demonstrate the successful
region, field flux should be reduced to achieve speed
application of PID controller to control the speed of a
above the rated speed. Torque and limitations in
separately excited dc motor. MATLAB/SIMULINK is
combined armature voltage and field control can be
used because of the short learning curve that most
shown in Figure 1.
students require to start using it, its wide distribution,
 8 Volume 4, Number 1, May 2011
_______________________________________________________________________________________________

This is followed by a transformer which is then fed

into a “6-Pulse Rectifier” which produces a directed
voltage and current [1, 7]. This is connected across the
motor. To simplify the design, the armature resistance
and inductance has been shown as one impedance. A
PID Speed Controller was used, where the following
figures elaborate on the design. The speed of a
separately excited dc motor could be varied from zero to
rated speed mainly by varying armature voltage in the
constant torque region. Whereas in the constant power
region, field flux should be reduced to achieve speed
above the rated speed [6]. The specifications of the dc
motor are detailed in the Table1.
Fig. 1: Combined armature voltage and field current
control. TABLE 1: Parameter values

Proportional integral- derivative (PID) controller Parameter Label Value

for DC motor drives: DC Motors of different genres Armature
abound. They are used abundantly across different Ra Resistance 0.139Ω
Armature
industries including paper mills, robotics, guided
La Inductance 0.045H
vehicles, and conveyors. As can be noted the voltage
Voltage to Speed
source is AC. The following diagram shows the basic Kp correction parameter 5.262
DC motor design. Voltage to Speed
Ki correction parameter 26.586
Voltage to Speed
Kd correction parameter 0.3498
Phase Angle to
Voltage correction
Kα parameter 0.2
Motor Torque to
Motor Current
proportionality
Ke constant 1.91
Motor EMF to
Speed proportionality
Km constant 1.91
B Motor Viscosity 0.6Nms
Motor Moment of
J Inertia 3.5Nms2
200 + ωm +
TL Load Torque 0.05ωm2
Vm Rated Voltage 240V
Pm Rated Power 40kW
ωm Rated Speed 1150 rpm
Fig.2: Basic DC Motor Design Transformer 240V
Vs Secondary Voltage (L-L)

Mathematical modeling: Using Kirchoff’s

Voltage Law in Figure 2, the following equation can be
derived.
V m = I m R a + L a di m / dt + E m (1)
Where,
Vm is the input voltage to the motor,
Im is the motor current,
Em is the voltage left for the motor, not affected by its
impedance.
Fig. 3: MATLAB/SimPowerSystems model of Using Newton’s Second Law, the following equation
separately excited dc motor speed control can be derived.
 Journal of Electrical and Electronics Engineering 9
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T m = T e − Jd ω m / dt + B ω m (2) EMF Torque

350.00

Where,
Tm is the Motor Torque and 300.00

Te is the torque produced by the voltage not accounting 250.00

the losses.

EMF Torque (Nm)

200.00

III. SIMULATION RESULTS 150.00

Simulation is carried out in Matlab-Simulink.

100.00

The inputs of the controller are the reference speed and 50.00

the actual speed and the output is the driving voltage to 0.00

the motor. From Table 1 that TL = 200 + ωm + 0.05ωm2, 0 2 4 6 8

Time (s)
10 12 14 16 18

the following plot can be made.

Fig. 6: Plot of Induced EMF Torque VS Time

The inertial torque can be defined as Tacc = J dωm/dt. We

know ωm = 120.4sin (0.628t) and J = 3.5Nms2.This
implies that dωm/dt. = 75.6112cos (0.628t), so
Tacc=3.5(75.6112cos (0.628t)). Finally, Tacc = 264.64cos
(0.628t), the following graph show its plot.

Inertial Torque VS Time

300

200

100
Inertial Torque (Nm)

0
0 2 4 6 8 10 12 14 16 18 20

Fig. 4: Plot of Angular Speed VS Torque Load -100

It can be noted that there is a positive relationship -200

between the torque load and angular speed. As one -300

increase, so does the other. According to reference [1], Time (s)

for such parameters Te = 50 + ω + 0.0115ω2. According

to references [1] and [7] we can assume sinusoidal Fig. 7: Plot of Inertial Torque VS Time
speed variation. With ωref = 120.4 rad/s. So let’s assume
ωm= 120.4sin (0.628t). This would generate the Also the damping torque Tb = Bωm, but since B =
following graph of ωref vs time. 0.6Nms and ωm = 120.4sin (0.628t). This means Tb =
0.6(120.4sin (0.628t)). The following graph depicts this.
Reference Angular Speed VS Time

Damping Torque VS Time

1.500

80

1.000
60

0.500 40
Ref. Angular Speed (rad/s)

Damping Torque (Nm)

20
0.000
0 2 4 6 8 10 12 14 16 18

0
0 2 4 6 8 10 12 14 16 18
-0.500

-20

-1.000
-40

-60
-1.500
Time (s)

-80
Time (s)

Fig. 5: Plot of Reference Angular Speed VS Time

Fig. 8: Plot of Damping Torque VS Time
Bearing in mind that Te = 50 + ωm + 0.0115ωm2, the
following graph can be plotted. Using equation (2), note that Tm = Te – Tacc – Tb. This is
 10 Volume 4, Number 1, May 2011
_______________________________________________________________________________________________

plotted on the following graph. IV. CONCLUSION AND DISCUSSION

MotorTorque Non-linearity of the combined field and

400.00 armature control system has been studied and carried
300.00
out using Matlab/Simulink. A DC motor drive for the
armature and associated field winding of the motor
200.00
includes an armature feedback loop responsive to the
current flow in the armature, an input command signal
Motor Torque (Nm)

100.00

such as a speed control signal, and the actual speed of

0.00
0 2 4 6 8 10 12 14 16 18 the armature for providing a control of the current
-100.00 supplied by a DC source means to the armature to
thereby provide speed control of the motor. A field
feedback loop control is also provided and includes
-200.00

-300.00
Time (s)
means responsive to the voltage across the armature and
to the line voltage supplied to the armature for providing
a control of the field intensity to assure that the back
Fig. 9: Plot of Motor Torque VS Time EMF of the armature is always less than the available
DC voltage supplied to the armature. This dual feedback
Recall, Te = 50 + ωm + 0.0115ωm2. Also Te = keIm. From
control provides for a faster response time of the
table 1, ke = 1.91. This means Im = (1/1.91) (50 + ωm +
armature throughout its total speed range together with
0.0115ωm2) ==> dim/dt = (1/1.91) (dωm/dt +
the feature of a constant torque for different speeds.
2(0.0115)ωm dωm/dt) Also recall, Vm = ImRa + Ladim/dt +
Em . Also Em = kmωm. Using parameters from table 1 it
V. ACKNOWLEDGMENT
can be written Vm = 0.139Im + 0.045 dim/dt + 1.91ωm.
Knowing ωm = 120.4sin (0.628t) and dωm/dt. =
The authors would like to acknowledge the
75.6112cos (0.628t), plot variations in Vm, Im & Tm.
Dept. of Electrical & Electronic Engineering, CUET for
giving lab facilities and supports to accomplish this
work.
Motor Voltage VS Current

300

200
REFERENCES

100
[1] Michael A., Mohammad, H.: PID Control, New
Identification and Design Methods 2006.
Motor Voltage (V)

0
0 20 40 60 80 100 120 140 160 180
[2] Moleykutty George, “Speed Control of Separately
Excited DC Motor.” American Journal of Applied
-100
Sciences 5 (3): 227-233, 2008, ISSN 1546-9239.
-200
[3] Zuo L., Fang L., Muhammad H.: Speed Nonlinear
Control of DC Motor Drive with Field Weakening.
-300
IEEE. Ind. Applications. Vol. 39(2), March 2003.
Current (A)
[4] J. Santana, J. L. Naredo, F. Sandoval, I. Grout, and
O. J. Argueta, “Simulation and construction of a
Fig. 10: Plot of Motor Voltage VS Current speed control for a DC series motor,” Mechatronics,
vol. 12 (9-10), Nov.-Dec. 2002, pp. 1145-1156.
Motor Torque VS Current [5] Ahmed Hussein, Kotaro Hirasawa, and Jinglu Hu,
400.00 “A robust control method for a PV-supplied DC
motor using universal learning networks,” Solar
Energy, vol. 76, issue 6, 2004, pp. 771-780.
300.00

200.00 [6] Y. S. E. Ali, S.B. M. Noor, S. M. Bashi, and M. K.

Hassan, “Microcontroller performance for DC
Motor Torque (Nm)

motor speed control system,” in national proc.

100.00

0.00 Power Engineering Conf. 2003, pp. 104-109.

[7] A. A. El-Samahy, “Speed control of DC motor
0 20 40 60 80 100 120 140 160 180

-100.00
using adaptive variable structure control,” in Proc.
-200.00 2000 IEEE 31st Annual Power Electronics
Specialists Conf., vol. 3, 18-23 June 2000, pp.1118-
-300.00
Current (A) 1123.
[8] John, J., Constantine, H., Stuart, N.: Linear Control
System Analysis and Design with MATLAB, CRC
Fig. 11: Plot of Motor Torque VS Current
Press, 2003.

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