Sudan University of Sciences and Technology

College of Engineering
School of Electrical and Nuclear Engineering

A Comparative Study between IP and PI Controllers

for Speed Control of Direct Current Motor

‫اﻟﺗﻧﺎﺳﺑﻰ‬-‫اﻟﺗﻛﺎﻣﻠﻰ و اﻟﺗﻛﺎﻣﻠﻰ‬-‫دراﺳﺔ ﻣﻘﺎرﻧﺔ ﺑﯾن اﻟﻣﺗﺣﻛﻣﺎت اﻟﺗﻧﺎﺳﺑﻰ‬

‫ﻟﻠﺗﺣﻛم ﻓﻰ ﺳرﻋﺔ ﻣﺣرك اﻟﺗﯾﺎر اﻟﻣﺳﺗﻣر‬

A Project Submitted in Partial Fulfillment for the Requirements of

the Degree of B.Sc. (Honour) In Electrical Engineering

Prepared By:
1. Moddathir Bushra Abd Algader Ali
2. Mogdad Elheber Mustafa Abbas
3. Mohammed Omer Mohammed Elfaki
4. Musaab Salah Elkheder Edrees

Supervised By:
Dr. Aamir Hashim Obeid Ahmed

October 2015
 ‫اﻵﯾـــــــــــــــــــــــــﺔ‬

‫ﺑﺴﻢ اﷲ اﻟﺮﲪﻦ اﻟﺮﺣﻴﻢ‬

‫ـ‬ ‫ِ‬
‫ـﻮم ﻻَ َﺗﺄْ ُﺧـ ُـﺬﻩُ َ ٌ‬
‫ـﻨﺔ‬ ‫ﺳ‬ ‫ـ‬ ‫ﻴ‬ ‫اﻟﻘ‬ ‫ـﻲ‬‫ـ‬ ‫ﱠ‬ ‫ِ‬ ‫ِ‬
‫ُ‬ ‫ﱡ‬ ‫َ‬ ‫ْ‬ ‫ﱡ‬ ‫ﻗــﺎل ﺗﻌــﺎﱄ‪﴿:‬اﻟﻠّــﻪُ ﻻَ إ َ ُ َ َ‬
‫ﳊ‬
‫ْ‬ ‫ا‬ ‫ـﻮ‬
‫ـ‬ ‫ﻫ‬ ‫إﻻ‬ ‫ـﻪ‬
‫ـ‬‫َ‬‫ﻟ‬

‫اﻷرض َﻣــﻦ َذا اﻟﱠـ ِـﺬي‬ ‫ـﺴﻤﺄو ِ‬

‫ات َوَﻣ ــﺎ ِﰲ َْ ِ‬ ‫ََ‬ ‫ﱠ‬ ‫ـ‬ ‫ﻟ‬ ‫ا‬ ‫ﰲ‬‫ِ‬ ‫ـﺎ‬ ‫ـ‬ ‫ﻣ‬ ‫ﱠ‬
‫َوﻻَ ﻧَـ ْـﻮمٌ ﻟ َ‬
‫ـﻪ‬
‫ُ‬ ‫ـ‬

‫ﺧﻠﻔ ُﻬـ ْـﻢ َوﻻَ‬ ‫ـﲔ أَﻳْـ ِ ِ‬

‫ـﺪﻳﻬﻢ َوَﻣــﺎ َ ْ َ‬ ‫ـ‬ ‫ﺑ‬ ‫ـﺎ‬ ‫ﻣ‬
‫َْ ُ َ َ َْ‬ ‫ﻢ‬‫ـ‬‫َ‬‫ﻠ‬ ‫ـﻌ‬ ‫ﻳ‬ ‫ﺑﺈذﻧـِِ‬
‫ـﻪ‬ ‫ْ‬ ‫ِ‬‫ِ‬ ‫ﱠ‬
‫إﻻ‬‫ِ‬ ‫ِ‬
‫ـﺸﻔﻊ َ ُ‬
‫ـﺪﻩ‬‫ـ‬ ‫ﻨ‬
‫ْ‬ ‫ﻋ‬ ‫ﻳَ ْ َ ُ‬
‫ْ‬
‫ﻛﺮِﺳـ ـ ـ ُﱡ‬
‫ـﻴﻪ‬ ‫ﻋﻠ ِﻤـ ـ ـ ِـﻪ ِإﻻﱠ ِﲟـَ ـ ــﺎ َﺷـ ـ ــﺎء َو ِﺳـ ـ ـ َـﻊ ُْ‬ ‫ـﻮن ﺑِـ ـ ـ ٍ‬
‫ـﺸﻲء ﱢﻣـ ـ ـ ْـﻦ ِ ْ‬ ‫َ‬ ‫ـ‬ ‫ـ‬ ‫ـ‬
‫ُ‬ ‫ﻄ‬ ‫ِ‬
‫ﳛﻴ‬‫ُ‬
‫َْ‬
‫ﺣﻔﻈﻬﻤﺎ وﻫﻮ ْ ِ‬
‫اﻟﻌﻠﻲ ْ ِ‬
‫اﻟﻌﻈﻴﻢ‬ ‫ُ‬ ‫ْ‬ ‫اﻷرض وﻻَ ﻳـﺆودﻩ ِ‬
‫َ‬ ‫و‬ ‫اﻟﺴﻤﺄو ِ‬
‫ات‬
‫ُ َ ََُ َ ﱡ َ‬ ‫ﱠ َ َ َ ْ َ َ َُ ُُ‬
‫)‪﴾(٢٥٥‬‬

‫ﺳﻮرة اﻟﺒﻘﺮة‬

‫‪i‬‬
 DEDICATION

We dedicate this project to our families, teachers, and friends.

ii
 A CKNOWLEDGEMENT

First of all, we would like to express our thanks to God for his great help in
completing this project. After that there are numerous of people we need to
thank for their advice, help, assistance and encouragement throughout the
completion of this project.

We would like to express our sincerest thanks to our supervisor,

Dr. Aamir Hashim Obeid Ahmed for his support, guidance, and advice in
completing this project.

Last but not least, we would like to thank our families for their patience and
endless financial, and more importantly, moral support throughout our life.

iii
 ABSTRACT

At the present time, Direct Current (DC) motors have been widely used in
many industrial applications. The main reason for their popularity is the
ability to control their torque and flux easily and independently. Therefore,
the control of the speed of a DC motor is an important issue and has been
studied since the early decades in the last century. The most commonly used
controller for the speed control of DC motors is conventional Proportional–
Integral (PI) controller. In spite of the major features of the conventional PI
controller, it has some disadvantages such as the high starting overshoot in
speed, the sensitivity to controller gains and sluggish response due to sudden
disturbance. To overcome these disadvantages, replacement of PI controller
by Integral plus Proportional (IP) controller is proposed in this project.
Performance of two controllers has been verified through simulation results
using MATLAB/SIMULINK software. According to the simulation results,
IP controller creates better performance in terms of overshoot, settling time,
and steady state error compared to conventional PI controller. This shows the
superiority of IP controller over conventional PI controller.

iv
 ‫ﻣﺳﺗﺧﻠص‬

‫ﻓﻰ اﻟوﻗت اﻟﺣﺎﻟﻰ‪ ،‬ﻓﺈن ﻣﺣرﻛﺎت اﻟﺗﯾﺎر اﻟﻣﺑﺎﺷر ﺗﺳﺗﺧدم ﻓﻰ اﻟﻌدﯾد ﻣن اﻟﺗطﺑﯾﻘﺎت اﻟﺻﻧﺎﻋﯾﺔ‪ .‬اﻟﺳﺑب‬

‫اﻟرﺋﯾﺳﻰ ﻟﺷﻌﺑﯾﺗﻬﺎ ﻫﻰ اﻟﻣﻘدرة ﻋﻠﻰ اﻟﺗﺣﻛم ﻓﻰ اﻟﻌزم واﻟﻔﯾض ﺑﺳﻬوﻟﺔ وﺑﺷﻛل ﻣﺳﺗﻘل‪ .‬وﻟذﻟك ﻓﺈن اﻟﺗﺣﻛم‬

‫ﻓﻰ ﺳرﻋﺔ ﻣﺣرك اﻟﺗﯾﺎر اﻟﻣﺳﺗﻣر ﻣﺳﺄﻟﺔ ﻣﻬﻣﺔ ﺣﯾث ﺗﻣت دراﺳﺗﻬﺎ ﻣﻧذ اﻟﻌﻘود اﻷوﻟﻰ ﻓﻰ اﻟﻘرن اﻟﻣﺎﺿﻲ‪.‬‬

‫ﯾﺗم اﻟﺗﺣﻛم ﻓﻰ ﺳرﻋﺔ ﻣﺣرك اﻟﺗﯾﺎر اﻟﻣﺳﺗﻣر ﺑﺻورة واﺳﻌﺔ ﺑﺈﺳﺗﺧدام اﻟﺣﺎﻛﻣﺔ اﻟﺗﻧﺎﺳﺑﯾﺔ‪-‬اﻟﺗﻛﺎﻣﻠﯾﺔ‪ .‬ﻋﻠﻰ‬

‫اﻟرﻏم ﻣن اﻟﺳﻣﺎت اﻟرﺋﯾﺳﯾﺔ اﻟﺗﻰ ﺗﻣﺗﺎز ﺑﻬﺎ اﻟﺣﺎﻛﻣﺔ اﻟﺗﻧﺎﺳﺑﯾﺔ‪-‬اﻟﺗﻛﺎﻣﻠﯾﺔ اﻟﺗﻘﻠﯾدﯾﺔ‪ ،‬إﻻ أﻧﻬﺎ ﻟدﯾﻬﺎ ﺑﻌض‬

‫اﻟﻌﯾوب ﻣﺛل ﺑداﯾﺔ ﻋﺎﻟﯾﺔ ﻟﻠﺳرﻋﺔ ﻟﺗﺟﺎوز اﻟﻬدف ‪ ،‬وﺣﺳﺎﺳﯾﺗﻬﺎ ﻟﻠﺗﻐﯾر ﻓﻰ ﺛواﺑت اﻟﺣﺎﻛﻣﺔ‪ ،‬و اﻹﺳﺗﺟﺎﺑﺔ‬

‫اﻟﺑطﺋﯾﺔ ﻟﻠﺗﻐﯾرات اﻟﻣﻔﺎﺟﺋﺔ‪ .‬ﻟﻠﺗﻐﻠب ﻋﻠﻰ ﻫذﻩ اﻟﻣﺷﺎﻛل‪ ،‬اﺳﺗﺑدﻟت اﻟﺣﺎﻛﻣﺔ اﻟﺗﻧﺎﺳﺑﯾﺔ‪-‬اﻟﺗﻛﺎﻣﻠﯾﺔ اﻟﺗﻘﻠﯾدﯾﺔ‬

‫ﺑﺎﻟﺣﺎﻛﻣﺔ اﻟﺗﻛﺎﻣﻠﯾﺔ‪-‬اﻟﺗﻧﺎﺳﺑﯾﺔ ﻓﻰ ﻫذﻩ اﻟﻣﺷروع‪ .‬ﺗم اﻟﺗﺣﻘق ﻣن أداء اﻟﺣﺎﻛﻣﺗﯾن ﻣن ﺧﻼل ﻧﺗﺎﺋﺞ اﻟﻣﺣﺎﻛﺎة‬

‫ﺑﺈﺳﺗﺧدام ﺑرﻧﺎﻣﺞ ‪ .MATLAB/SIMULINK‬وﻓﻘﺎً ﻟﻧﺗﺎﺋﺞ اﻟﻣﺣﺎﻛﺎة‪ ،‬ﻧﺟد أن اﻟﺣﺎﻛﻣﺔ اﻟﺗﻛﺎﻣﻠﯾﺔ‪-‬اﻟﺗﻧﺎﺳﺑﯾﺔ‬

‫أﻋطت أداء أﻓﺿل ﻓﻣﺎ ﯾﺗﻌﻠق ﺑﺗﺟﺎوز اﻟﻬدف‪ ،‬زﻣن اﻟﺗرﺳﯾﺦ‪ ،‬و اﻟﺧطﺄ ﻋﻧد ﺣﺎﻟﺔ اﻹﺳﺗﻘ اررﯾﺔ ﻣﻘﺎرﻧﺔ ﻣﻊ‬

‫اﻟﺣﺎﻛﻣﺔ اﻟﺗﻧﺎﺳﺑﯾﺔ‪-‬اﻟﺗﻛﺎﻣﻠﯾﺔ اﻟﺗﻘﻠﯾدﯾﺔ‪ .‬وﻫذا ﯾدل ﻋﻠﻰ ﺗﻔوق اﻟﺣﺎﻛﻣﺔ اﻟﺗﻛﺎﻣﻠﯾﺔ‪-‬اﻟﺗﻧﺎﺳﺑﯾﺔ ﻋﻠﻰ اﻟﺣﺎﻛﻣﺔ‬

‫اﻟﺗﻧﺎﺳﺑﯾﺔ‪-‬اﻟﺗﻛﺎﻣﻠﯾﺔ اﻟﺗﻘﻠﯾدﯾﺔ‪.‬‬

‫‪v‬‬
 TABLE OF CONTENTS
‫اﻻﯾﺔ‬ i
DEDICATION ii
ACKNOWLEDGEMENT iii
ABSTRACT iv
‫ﻣﺴﺘﺨﻠﺺ‬ v
TABLE OF CONTENTS vi
LIST OF FIGURES ix
LIST OF TABLES x
LIST OF ABBREVIATIONS xi
CHAPTER ONE
INTRODUCTION
1.1 General Concepts 1
1.2 Problem Statement 2

1.3 Objectives 2
1.4 Methodology 2
1.5 Project Layout 3
CHAPTER TWO
BACKGROUND AND LITERATURE REVIEW
2.1 Introduction 4
2.2 Types of DC Motors 4
2.2.1 A separately excited DC motor 5
2.2.2 Permanent magnets DC motor 5
2.2.3 Series DC motors 6
2.2.4 Shunts DC motors 7
2.2.5 Compound DC motors 7

vi
2.3 Main Components of DC Motors 8
2.3.1 Stator 9
2.3.2 Rotor 10
2.4 Operation Principle of DC Motors 11
2.5 Speed Control of DC Motor 11
2.3.1 Armature resistance control method 12
2.3.2 Flux control method 13
2.3.3 Armature voltage control method 13
CHAPTER THREE
MATHEMATICAL MODEL OF THE SEPARATELY
EXCITED DC MOTOR
3.1 Introduction 15
3.2 Model of the separated excitation DC Motor 16
3.2.1 System equations 16
3.2.2 State space equations 17
3.3 PI Controller Background 18
3.4 IP Controller Background 20
3.5 PI and IP Controllers Tuning 20
CHAPTER FOUR
SIMULATION RESULTS AND DISCUSSION
4.1 Introduction 22
4.2 MATLAB/ SIMULINK Model for DC Motor 22
4.2.1 S-Function block 22
4.2.2 S-Function m-file 24
4.2.3 Complete SIMULINK model of DC motor 26
4.3 Simulation Results 27

vii
 4.3.1 Constant speed command 27
4.3.2 Variable speed command 28
CHAPTER FIVE
CONCLUSION AND RECOMMENDATIONS

6.1 Conclusion 30
6.2 Recommendations 30
References 32

viii
 LIST OF FIGURES
Figure Title Page
2.1 A separately excited DC motor model 5
2.2 The permanent magnets DC motor model 6
2.3 The series DC motor model 6
2.4 The shunt DC motor model 7
2.5 The compound DC motor model 8
2.6 The main components of a typical DC motor 8
2.7 Lamination of field pole 9
2.8 Cutaway view of commutator 11
3.1 Block diagram of the conventional PI controller 18
3.2 A simplified block diagram of the speed control
of the separately excited DC motor using the PI 20
controller
3.3 A simplified block diagram of the speed control of the
20
separately excited DC motor using the IP controller
4.1 Simulink library browser 23
4.2 Drag-drop the S-Function block to new page 23
4.3 Change S-Function name to dc_motor 24
4.4 S-Function m-file 24
4.5 Complete SIMULINK model of the DC motor 26
4.6 MATLAB/SIMULINK overall model of speed
control of the separately excited DC motor 27
using two controllers
4.7 Simulation result at constant speed 28
4.8 Simulation result at variable speed 29

ix
 LIST OF TABLES
Table Title Page
3.1 Parameters of the separately excited DC motor 18
3.2 PI controller characteristic parameters 19
4.1 Three types of flags 25
4.2 Types of Sys 26

x
 LIST OF ABBREVIATIONS
DC Direct Current
AC Alternating Current
IP Integral- Proportional
PI Proportional-Integral

xi
 CHAPTER ONE
INTRODUCTION

1.1 General Concepts

The history of electrical motors goes back as far as 1820, when Hans
Christain Orested discovered the magnetic effect of an electric current. One
year later, Michael Faraday discovered the electromagnetic rotation and built
the first primitive DC motor. Faraday went onto discover electromagnetic
induction in 1831. Nicola Tesla first developed the poly-phase induction
motor in 1886 and by 1890 the simple three-phase motor had been developed.
Currently, the main types of electric motors are still the same, DC,
Alternating Current (AC) asynchronous and synchronous, all based on
Orested, Faraday and Tesla’s theories developed and discovered more than a
hundred years ago. An electric drive performs the conversion of electrical
energy to mechanical energy or vice-versa. Electric drives may run at constant
speed or at variable speed. Both DC and AC motors have been extensively
used in control systems but each has its own characteristics [1].
DC motor drives, because of their simplicity, ease of application, high
reliabilities, flexibilities and favorable cost have long been a backbone
of industrial applications where speed control of motor are required.
Therefore, the control of the speed of a DC motor is an important issue and
has been studied since the early decades in the last century [1, 2]. The most
commonly used controller for the speed control of the DC motors is
conventional PI controller. Conventional PI controllers have several important
features. The reason is that the conventional PI controller is easy to
implement either by hardware or by software. No deep mathematical theory is
necessary to understand how the conventional PI controller works, so
everybody is able to imagine what is happening inside the controller during
the control process. Furthermore, it has the ability to eliminate steady state

1
offset trough integral action and it can anticipate the changes through
derivative action. In addition to this, traditional PI controllers have very
simple control structure and inexpensive cost. However, the PI controller has
some disadvantages such as the high starting overshoot in speed, the
sensitivity to controller gains and sluggish response due to sudden change in
load torque disturbance. So, the relatively IP controller is proposed to
overcome the disadvantages of the PI controller [3].

1.2 Problem Statement

Direct current motors are generally controlled by conventional PI controller.
In spite of the major features of the classical PI controller, it has some
disadvantages. This makes the use of traditional PI controller a poor choice
for industrial variable speed drive applications where higher dynamic control
performance with little overshoot and high efficiency is required.

1.3 Objectives
The main objectives of this project are listed as follows:
(1) To formulate the complete mathematical model and state space
representation of the separately excited DC motor.
(2) To study and understand PI and IP controllers to control the speed of the
separately excited DC motor.
(3) To evaluate the performance of the speed control of the separately excited
DC motor using two controllers.
(4) To compare the performance of the PI and IP controllers via simulation
results using MATLAB/SIMULINK software.

1.4 Methodology
The project methodology is undertaken according to these stages:
(1) The development of linear mathematical model for the separately excited
DC motor.

2
(2) Construct the model of the separately excited DC motor using
MATLAB/SIMULINK software.
(3) Design of PI and IP controllers.
(4) Perform simulation using MATLAB/SIMULINK software for PI and IP
controllers.
(5) Evaluate performance of speed control of the separately excited DC motor
based on simulation results.

1.5 Project Layout

The project is presented in five chapters. The scope of each chapter is
explained as stated below:
Chapter one gives an introduction to the project, including: general concepts,
problem statement, objectives, and methodology.
Chapter two presents background theory and a literature review of DC
motors.Various electrical DC motors types are discussed. Different DC motor
control methods are then presented, including flux control method by
changing Ф, armature voltage control, and armature resistance control.
Chapter three the mathematical model of the separately excited DC motor is
introduced. Furthermore, types of mathematical models are discussed. Finally,
the PI and IP controllers for the speed control of the separately excited DC
motor are presented.
Chapter four presents the simulation results of PI and IP controllers using
MATLAB/SIMULINK software. Furthermore, the comparison between the
two controllers is done.
Chapter five draws general conclusions from the project and provides
suggestions for further research work in this area.

3
 CHAPTER TWO
BACKGROUND AND LITERATURE REVIEW

2.1 Introduction
Electrical derives involving various types of DC motors turn the wheel of
industry. The main advantages of DC motors are easy speed or position
control and wide adjustable range. Therefore, DC motors are often used in a
variety of industrial applications such as electrical equipment, computer
peripherals, robotic manipulators, actuators, steel rolling mills, electrical
vehicles, paper machine. Its applications spread from low horse power to the
multi-mega watt due to its wide power, torque, speed ranges, high efficiency,
fast response, and simple and continuous control characteristics. Therefore,
the control of the speed of a DC motor is an important issue and has been
studied since the early decades in the last century. Some of these methods
were based on classical and also intelligent approaches. At present, PI
controller, due to its simplicity, stability, and robustness, is a type of
controller that is most widely applied. However, it is difficult to design when
the accurate model of plant is complicated or the environment of the load on
the plant is variable [1, 2]. This chapter will examine the different types of
DC motors that can be made and explain the advantages and disadvantages of
each. It will include a discussion of several methods of DC motor speed
control.

2.2 Types of DC Motors

DC motors can be classified according to the electrical connections of the
armature winding and the field windings. The different ways in which these
windings are connected lead to motors operating with different characteristics.
The field winding can be either self-excited or separately-excited, that is, the
terminals of the winding can be connected across the input voltage terminals
4
or fed from a separate voltage source. Further, in self-excited motors, the field
winding can be connected either in series or in parallel with the armature
winding. These different types of connections give rise to very different types
of DC motors. In this section each of these DC motor types are discussed and
their relative advantages and disadvantages examined [1, 2].

2.2.1 A separately excited DC motor

The schematic circuit diagram of the separately excited DC motor is
illustrated in following Figure 2.1. When the armature of a DC machine
rotates in the stator field, a voltage is induced in the armature winding. In a
DC motor, it is called counter emf or back emf. In either case, the level of
this voltage can be calculated using Faraday's Law, which states that a voltage
is induced. The field and armature circuits are totally separate. The field
current is supplied from a secondary source [1, 2].

Figure 2.1: A separately excited DC motor model

2.2.2 Permanent magnets DC motor

The magnetic field of Permanent Magnets (PM) DC motors is generated by
permanent magnets so no power is used to create the magnetic field structure.
The stator magnetic flux remains essentially constant at all levels of armature
current and, therefore, the speed vs. torque curve of the PM motor is linear

5
over an extended range. The schematic circuit diagram of a permanent
magnets DC motor is illustrated in following Figure 2.2 [1, 2].

Figure 2.2: The permanent magnets DC motor model

2.2.3 Series DC motor

The schematic circuit diagram of a series DC motor is illustrated in following
Figure 2.3. The series DC motor has, as the name suggests, the field winding
in series with the armature winding. The field current If is therefore the same
as the armature current Ia. torque. Series DC motor armatures are usually lap
wound. Lap windings are good for high current, low voltage applications
because they have additional parallel paths for current flow. Common uses of
the series DC motor include crane hoists, where large heavy loads will be
raised and lowered and bridge and trolley drives on large overhead cranes [1].

Figure 2.3: The series DC motor model

6
2.2.4 Shunt DC motor
The shunt DC motor is probably the most common DC motor used in industry
today. Some of the common uses of the shunt DC motor are machine shop
lathes, and industry process lines where speed and tension control are critical.
The schematic of the shunt DC motor is shown in Figure 2.4. As the name
suggests, the field winding is connected in parallel with the motor armature.
The coils in the shunt field are composed of many turns of small wire,
resulting in low shunt field current and moderate armature current. This motor
provides starting torque that varies with the load applied and good speed
regulation by controlling the shunt field voltage [1, 2].

Figure 2.4: The shunt DC motor model

2.2.5 Compound DC motor

When comparing the advantages of the series and shunt DC motors, the series
DC motor has greater torque capabilities while the shunt DC motor has more
constant and controllable speed over various loads. These two desirable
characteristics can be found in the same motor by placing both a series field
and shunt field winding on the same pole. Thus, we have the compound DC
motor. The schematic circuit diagram of a compound DC motor is illustrated
in following Figure 2.5. Common uses of the compound DC motor include
elevators, air compressors, conveyors, presses and shears [1, 2].

7
 Figure 2.5: The compound DC motor model

2.3 Main Components of DC Motors

The major components of all DC motors are the same. The difference
between DC motors occurs in the way the components are electrically
connected. Figure 2.6 shows the components of a typical DC motor, the stator
and the rotor.

Figure 2.6: The main components of a typical DC motor

The stator is the stationary frame assembly of the DC motor. The stator
assembly is made up of the frame, inter-pole windings, main field windings,
brush-holder and brushes, and the end bells. The rotor is the rotating portion

8
of a DC motor. The rotor assembly is made up of the armature, commutator,
and the blower. The rotor and the stator are mechanically connected through
use of the front and rear bearings that allow the rotor to rotate while providing
mechanical support [1, 2].
2.3.1 Stator
As discussed, the stator is the stationary portion of a DC motor. The stator
consists of the following [1]:
(1) Frame: The frame of a DC motor provides the mechanical support for the
stator components. The frame also provides for a method of mounting and
moving the DC motor.
(2) Field Winding: The field winding is wound around a field pole that
usually is made from laminated steel. The use of laminated steel reduces eddy
current and hysteresis losses. Figure 2.7 shows a typical laminated field pole
piece that would be bolted to the motor frame. The laminated field pole then
is wrapped with coil wire to complete the main field winding assembly. When
DC current is passed through these main field coils, a stationary magnetic
field is produced.Several types of DC motors have an auxiliary winding that
is mounted on the motor frame between the main field poles. This winding is
called an inter-pole. The purpose of an inter-pole is to assist commutation and
prevent sparking at the brushes.

Figure 2.7: Lamination of field pole

9
(3) Brush rigging and brushes: Current flows into the armature winding
through contacts called brushes. These brushes ride on the commutator bars.
The brushes are made from a carbon compound and are mounted in a brush
holder, as shown in Figure 2.6. The entire assembly is referred to as a brush
rigging. The brush holder keeps the brush properly aligned with the
commutator and maintains a constant pressure on the brush through use of a
spring. The armature circuit consists of a current path from the power supply
through the brushes, through a commutator bar, through a set of coils, through
another commutator bar, through a second set of brushes, and back out to the
power supply.
(4) End bells: The end bells are on either end of the motor. The end bells
complete the frame of the motor and also house the bearing support for the
motor.

2.3.2 Rotor
The rotor is the rotating portion of a DC motor. The rotor consists of the
following components [1]:
(1) Armature: The armature consists of a group of coils that are imbedded in a
laminated iron core. When a DC current is applied to the armature, a magnetic
field will be produced.
(2) Commutator: The commutator is shown in Figure 2.6, is the mechanical
means by which the direction of current is switched to the armature coils. The
armature coils are connected to a commutator by copper bars that are called
risers. A commutator is a copper cylinder that is divided into many sections or
segments that are called bars. The segments are insulated from each other
with mica.
(3) Blower: The blower is a fan that is mounted on the rotor shaft. The blower
rotates with the rotor and forces air to pass through the DC motor. The blower
is used to cool a DC motor. The Figure 2.8 shows a cutaway view of
commutator which consists from segments (bars), rear string band, risers.

10
 Figure 2.8: Cutaway view of commutator

2.4 Operation Principle of DC Motors

A DC Motor works on the principle that “whenever a current carrying
conductor is placed in a magnetic field, it experiences a force. The magnitude
is given by [1]:

F = B.I.L (2.1)

Where:
F = Force in Newton’s.
B = Flux density in Web/ .
I = Current in amperes flowing through the conductor.
L = Length of the conductor in meters.

2.5 Speed Control of DC Motors

Speed control of a motor refers to the intentional change of the motor speed to
a value needed for performing the required work. Many applications require
the speed of a motor to be varied over a wide range. One of the most
attractive features of DC motors in comparison with AC motors is the ease

11
with which their speed can be varied. Based on the operating parameters, the
speed of DC motors governed by the equation:

V a  R a ia
  (2.2)
Kb

On the right hand side of the Equation (2.2) there are three operating
parameter, namely, the voltage applied to the armature circuit (Va), the
voltage drop in the armature circuit (Ia Ra) and the useful flux per pole (Ф).
From this equation, it is evident that the speed can be varied by using any of
the following methods [1, 2].
(i) By varying the resistance (Ra) in the armature circuit. This is known as
armature control method.
(ii) By varying the flux per pole (Ф). This is known as flux control method.
(iii) By varying the applied voltage (Va). This is known as voltage control
method.

2.5.1 Armature resistance control method

Armature resistance control provides a means of obtaining reduced speed by
insertion external series resistance in the armature circuit. It can be used with
series, shunt, and compound DC motors. For the last two types of DC motor,
the series resistor must be connected between the shunt field and the
armature, not between the line and the motor. It is a common method of speed
control for series motors. Depending upon the value of the series resistance,
the speed may vary significantly with the load, since the speed depends on the
voltage drop in this resistance and hence on the armature current demanded
by the load. A significant disadvantage of this method of speed control is that
the power loss in the external resistor is large, especially when the speed is
greatly reduced [1, 2].

12
2.5.2 Flux control method
Another approach to control the speed of a DC motor involves the control of
the field current, which in turn controls the flux in the motor. The field current
in a shunt DC motor can be controlled by inserting an external resistor in
series with the field winding. Because the field current is a very small fraction
of the total current intake of a shunt DC motor, the power dissipated by the
external resistor is relatively small. Therefore, the flux control method is
economically better than the armature resistance control method. To control
the flux in a series DC motor, a field diverter resistor can be connected in
parallel with the series field winding. If all the coils in a series field winding
are connected in series, we can also change the flux in a series motor by
connecting the coils in parallel. The addition of a resistance in series with the
shunt field winding or in parallel with the series field winding causes the field
current and thereby the flux in the motor to decrease. Since the speed of a
motor is inversely proportional to its flux, a decrease in its flux results in an
increase in its speed. Thus, the flux control method makes a motor operate at
a speed higher than its rated speed. As the torque developed by a shunt DC
motor is proportional to the product of the armature current and the flux per
pole, a decrease in the flux must be accompanied by a corresponding increase
in the armature current for the motor to deliver the same torque. This method
of speed control is, therefore, not satisfactory for compound DC motors,
because any decrease in the flux produced by the shunt field winding is offset
by an increase in the flux produced by the series field winding owing to an
increase in the armature current [1, 2].

2.5.3 Armature voltage control method

This method is usually applicable to the separately excited DC motors. In the
armature voltage control method, the voltage applied to the armature circuit is
varied without changing the voltage applied to the field circuit of the motor.
Therefore, the motor must be separately excited to use armature voltage

13
control. The advantage of this method is that it has a wide range of speed
control from zero up to the rated speed. However, it is quite expensive.
Therefore, this method of speed control is employed for large size motors
where efficiency is of great importance [1, 2].

14
 CHAPTER THREE
MATHEMATICAL MODEL OF THE
SEPARATELY EXCITED DC MOTOR

3.1 Introduction
The general system description, loosely speaking, refers to a mathematical
expression that appropriately relates the physical system quantities to the
system components. This mathematical relation constitutes the mathematical
model of the system. A system in operation involves the following three
elements: the system’s input (or excitation), the system itself, and the
system’s output (or response). The mathematical model of a system is a
mathematical relation which relates the input, the system, and the output. This
relation must be such as to guarantee that one can determine the system’s
output for any given input. From the above definition it follows that the
mathematical model is not just any relation, but a very special relation, which
offers the capability of system analysis, i.e., the capability to determine the
system’s response under any excitation. Furthermore, the foregoing definition
reveals the basic motivation for determining mathematical models. This
motivation is to have available appropriate tools that will facilitate the system
analysis. It is well known that in order to analyze a system, it must have
available its mathematical model. It should be also noted that the
mathematical model is useful for other purposes, as for example to study the
system’s stability and other properties, to improve the system’s performance
by applying control techniques [2]. There are several types of mathematical
models have been proposed for the description of system. The most popular
ones are the following:
(1) The differential equations.
(2) The transfer function.
(3) The state equations.
15
In this project the state space equations are used. The state space equation is
description in time domain which may be applied to very wide category of
systems, such as linear and nonlinear system. The term state of a system
refers to the past, present, and future of the system. Usually, a system is
described by a finite number of state variables [2].

3.2 Model of the Separately Excited DC Motor

Direct current motors are widely used for industrial and domestic
applications. The control of the speed of a DC motor with high accuracy is
required. There are two main ways of controlling a DC motor: The first one
named armature control consists of maintaining the stator magnetic flux
constant, and varying the armature current. Its main advantage is a good
torque at high speeds and its disadvantage is high energy losses. The second
way is called field control, and has a constant voltage to set up the armature
current, while a variable voltage applied to the stator induces a variable
magnetic flux. Its advantages are energy efficiency, inexpensive controllers
and its disadvantages are a torque that decreases at high speeds. In this
project, the separately excited DC motor model is chosen according to his
good electrical and mechanical performances more than other DC motor
models. The electric circuit of the separately excited DC motor is shown in
Figure 2.1. The main objective is to control the speed of the separately excited
DC motor by armature voltage control [1, 2].
3.2.1 System equations
From Figure 2.1, the dynamics of a separately excited DC motor may be
expressed as [2]:

d ia
V a  R a ia  L a  E
dt b
(3.1)
d ia
V a  R a ia  L a  K 
dt b

16
 d
T  K T ia = J  B (3.2)
dt

Where Va is the input terminal voltage (armature voltage) in volt, Eb is the

motor back emf in volt, Ra is the armature resistance in ohm, La is the
armature inductance in H, Kb is the back emf constant in Vs/rad,  is
represents angular speed in rad/s, ia is the armature current in A, J is the
moment of inertia of the motor in kgm2/s2, T is the motor torque in Nm, B is
the viscous friction coefficient in Nms/rad, and KT is the torque factor
constant in Nm/A.
3.2.2 State space equations
Equation (3.3) and Equation (3.4) are rearranged to obtain:

K
d ia R
  a ia  b   Va (3.3)
dt La La La

d KT B
 ia   (3.4)
dt J J

In the state space model of a separately excited DC motor, the Equation (3.3)
and Equation (3.4) can be expressed by choosing the angular speed () and
armature current (ia) as state variables and the armature voltage (Va) as an
input. The output is chosen to be the angular speed [2].

  Ra K 
 dia  b  0 
 
 dt  ia   La La  ia   
     1 V
      a
 d      KT B   La 
 dt   J 
J 
(3.5)
ia 
y   0 1  
 
 

The physical and functional parameters of the separately excited DC motor

used for simulation testing are given in Table 3.1.
17
Table 3.1: Parameters of the separately excited DC motor
Parameter Description Value

Ra Armature Resistance 1Ω
La Armature Inductance 0.05H
J Moment of Inertia 0.01kgm2/s2
B Viscous Friction Coefficient 0.00003Nms
KT Toque Constant 0.023Nm/A
Kb Back EMF Constant 0.023Vs/rad

3.3 PI Controller Background

The conventional PI controller remains the most popular design approach
used in industrial applications due to its simplicity and reliability for the
control of first and second order plants, and even high order plants with well
defined conditions. A well tuned PI controller is capable in achieving an
excellent performance. However, the PI controller has some disadvantages
such as the high starting overshoot in speed, the sensitivity to controller gains
and sluggish response due to sudden change in load torque disturbance.
Figure 3.1 shows the block diagram configuration of the conventional PI
controller [3].

+
e(t) u(t)
+

Figure 3.1: Block diagram of the conventional PI controller

18
Where it can be seen that in a PI controller the error e(t) is used to generate
the proportional and integral action with the resulted signals weighted and
summed to form the control signal u(t) applied to the plant model. The
differential equation of a conventional PI controller is given by [3]:

u (t )  K e (t )  K  e (t )dt (3.6)
P I

Where KP is the proportional gain and KI is the integral gain. The transfer
function of a classical PI controller is expressed as follows:

U (s )
G (s )   K  KsI (3.7)
PI E (s ) P

The effects of each gain controllers KP and KI on a closed-loop system are

summarized as shown in Table 3.2.

Table 3.2: PI controller characteristic parameters

Close Loop Rise Time Overshoot Settling Time Steady State
Response (Tr) sec (Mp) % (Ts) sec Error (ess)
KP Decrease Increase Small Change Decrease
KI Decrease Increase Increase Eliminate

Note that these correlations may not be exactly accurate, because KP and KI
are dependent of each other. In fact, changing one of these variables can
change the effect of the other two. For this reason, the table should only used
as a reference when we are determining the values of KP and KI. To improve
the dynamic performance for transient state and avoid overshoot, the speed
control is confided to an integral plus proportional controller [3]. The IP
controller is considered the major contribution in this study. A simplified
block diagram of the speed control of the separately excited DC motor using
the PI controller is shown in Figure 3.2 [4].
19
 ref e PI Separately Excited r
+ Controller DC Motor
-

Figure 3.2: A simplified block diagram of the speed control of the separately
excited DC motor using the PI controller

Where ref is the reference rotor angular speed, r is the rotor angular speed
and e=ref-r is the tracking speed error.

3.4 IP Controller Background

Takahashi, Harashima and Kondo suggested a new method of control called
IP controller as a trial to solve the main problems of PI controller. Figure 3.3
shows IP controller along with the separately excited DC motor, where the
proportional term is moved to the feedback path and it acts like a feedback
compensation [4].

ref e KI/s Separately Excited r

+
- DC Motor
-

KP

Figure 3.3: A simplified block diagram of the speed control of the separately
excited DC motor using the IP controller

3.5 PI and IP Controllers Tuning

Tuning the PI and IP controller is adjust of its parameter gains KP
and KI to the optimum values for the desired control response.
20
There are according various method for loop tuning, the traditional
manual method for loop tuning is used in this project [3].

21
 CHAPTER FOUR
SIMULATION RESULTS AND DISCUSSION
4.1 Introduction
A comparative study of PI and IP control scheme for the separately
excited DC motor has been done here. Two simulation tests for the
separately excited DC motor were carried out using both IP controller and
conventional PI controller. Simulation tests are based on the facts that
whether the IP controller is better than the conventional PI controller or not.

4.2 MATLAB/ SIMULINK Model for DC Motor

MATLAB is a simple and flexible programming environment for a wide
range of problems such as signal processing, optimization, linear
programming and control systems. The basic MATLAB software package can
be extended by using add-on toolboxes such as: fuzzy logic toolbox and
control toolbox. With the complexity of medium-size to large-size nonlinear
models, it may be more efficient to use a set of differential equations written
in an m-file. These m-files will be accessed by SIMULINK through the
S-Function block. Thus, this method mixes the advantages of an m-file with
the graphical links to other SIMULINK blocks. The state space equations
(3.5) and (3.6) can be written into MATLAB/SIMULINK by using
S-Function block as follows [5]:
4.2.1 S-Function block
In the Simulink Library Browser, go to the User-Define Functions
subdirectory as shown in Figure 4.1. Then open new page and drag-drop the
S-Function block to new page as shown in Figure 4.2. Double-click on the
S-Function block and change the S-Function name to dc_motor as shown in
Figure 4.3 [5].

22
 Figure 4.1: Simulink library browser

Figure 4.2: Drag-drop the S-Function block to new page

23
 Figure 4.3: Change S-Function name to dc_motor

4.2.2 S-Function m-file

This file will be saved as an m-file. It contains the protocol in which
SIMULINK can access information from MATLAB as shown in Figure 4.4.

Figure 4.4: S-Function m-file

24
The first line specifies the S-Function name (here dc-motor), input and output
arguments. The input and output arguments are classification as follows [5]:
(a) Input arguments
(i) t is the time variable.
(ii) x is the column-vector of state variables.
(iii) u is the column-vector of input variables (whose value will come from
other SIMULINK blocks).
(iv) Flag is indicator of which group of information and/or a calculation is
being requested by SIMULINK. There are many types of flags, here we
described there flags as shown in Table 4.1.

Table 4.1: Three types of flags

Flag Job/Data Request
Initialization:
a) Setup of input/output vector sizes and other setup modes
0
b) Specification/calculation of initial Conditions for the state
variables.
Derivative Equation Updating:
1 a) Calculations involving input vectors
b) Calculation of the derivatives
Output Calculations:
Evaluating output variables as a function of the elements of the
3
state vector (and in some case, also the elements of the input
vector)

(b) Output arguments

(i) Sys is the main vector of results requested by SIMULINK. Depending on
the flag sent by SIMULINK, this vector will hold different information as
shown in Table 4.2.
(ii) x0 is column vector of initial conditions.
25
Table 4.2: Types of Sys
sys = [a, b, c, d, e, f, g]
where: a is number of continuous time states
If flag = 0
b is number of discrete time states
c is number of outputs
d is number of inputs
e = 0 (required to be 0, not currently used)
f = 0 (no) or 1 (yes) for direct algebraic feed through of input
to output. (This is relevant only if during flag=3, the output
variables depend algebraically on the input variables)
g is number of sample times. (for continuous process, we set
this equal to 1)
If flag = 1 sys =a column vector of the derivatives of the state variables
If flag = 3 sys = a column vector of the output variables

4.2.3 Complete SIMULINK model of DC motor

The complete MATLAB/SIMULINK model of the separately excited DC
motor is shown in Figure 4.5.

Figure 4.5: Complete SIMULINK model of the DC motor

26
4.3 Simulation Results
The MATLAB/SIMULINK overall model of system under study with
conventional PI controller and IP controller is shown in Figure 4.6.

Figure 4.6: MATLAB/SIMULINK overall model of speed control of the

separately excited DC motor using two controllers

4.3.1 Constant speed command

To test the performance of the speed control of the separately excited DC
motor at a constant speed, the separately excited DC motor is started up from
stand still to trace the speed command of 10rad/sec. Figure 4.7 gives the
speed responses of the separately excited DC motor drive with IP controller
and ordinary PI controller. In terms of the speed control trajectories shown in
Figure 4.7, two controllers have a similar performance in term of fast tracking
of the desired speed. Also, steady state error with both controllers is almost
zero. However, in Figure 4.7 it can be easily observed that the speed response
of the separately excited DC motor with IP controller shows no sign of
overshoot as observed with classical PI controller thus reducing the settling
time. However, the rise time for traditional PI controller is shorter than for IP
controller.
27
 12

10

Reference
PI controller
8 IP controller
Rotor Speed (rad/sec)

0
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
Time (sec)

Figure 4.7: Simulation result at constant speed

4.3.3 Variable speed command

In this case, the separately excited DC motor is tested under variable speed
command. The simulation is performed for 5 seconds. The speed command is
10rad/sec for the first three seconds then followed by 30rad/sec for the last
two seconds. Figure 4.8 shows the speed response for a stepped speed
reference for IP and standard PI controllers. It can be seen that there is a very
good accordance between real speed and reference speed. However, from
Figure 4.8 it is clear that IP controller provided optimum performance in
terms of overshoot and settling time. Only rise time remained to be good for
conventional PI controller.

28
 35

30
Reference
PI controller
Rotor Speed (rad/sec)
25 IP controller

20

15

10

0
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
Time (sec)

Figure 4.8: Simulation result at variable speed

29
 CHAPTER FIVE
CONCLUSION AND RECOMMENDATIONS

5.1 Conclusion
High performance electric motor drives are considered an essential
requirement for modern industrial applications. In the past, DC motors have
been used extensively in the industry mainly because of the simple control
strategies required to achieve good performance in speed control applications.
Therefore, the control of the speed of a DC motor is an important issue and
has been studied since the early decades in the last century. DC motors are
generally controlled by conventional PI controller. In spite of the major
features of the classical PI controller, it has some disadvantages such as the
high starting overshoot in speed, the sensitivity to controller gains and the
sluggish response due to sudden change in load torque disturbance. Thus, the
relatively IP controller is proposed to solve the some disadvantages of the
conventional PI controller and achieve accurate control performance of speed
control of a DC motor. A series of simulation results have been conducted in
order to evaluate the performances of the two controllers using
MATLAB/SIMULINK software package. From the comparative simulation
results, one can conclude that the two controllers demonstrate nearly the same
performances. However, it is observed that IP controller provide important
advantages over the traditional PI controller like limiting the overshoot in
speed, thus the starting current overshoot can be reduced. In addition, the
settling time for IP controller is shorter than for conventional PI controller.

5.2 Recommendations
The results of this project open some interesting and challenging problems of
great importance. In what follows, we point out some of the possible future
research directions:

30
1. It would be useful to further compare between IP controller and fuzzy logic
control.
2. It would be useful to further compare between IP controller and neural
network schemes for speed control of DC motor.
3. It would be useful to further compare between IP controller and sliding
mode control.

31
 References
[1] Dubey, “Fundamental of Electrical Drives”, Narosa Publication, Second
Edition, 2011.
[2] Chomat, “Electric Machines and Drives”, Rijeka, Croatia, 2011.
[3] O. Aidan, “Handbook of PI and PID Controller Tuning Rules”, Imperial
College Press, London, 2006.
[4] Aamir Hashim Obeid Ahmed, "Speed Control of Vector Controlled
Induction Motors Using Integral-Proportional Controller", SUST Journal of
Engineering and Computer Science (JECS), Vol. 15, No. 2, pp. 72-79, 2014.
[5] David Houcque, ”Introduction to MATLAB for Engineering Student”,
North University, 2005.

32