Speed Control of D.C. MOTOR Using Chopper 'VARUN ROHIT VADAPALLI, “HEMANTH KUMAR KELLA, “T.RAVI SEKHAR, “Y.DAVID SAMSON, ‘N.AVINASH 2 UG Student, “Assistant Professor, Department of Electrical and Blectronies Engineering, Leni Institute of Engineering and Technology, Jonnada, Vizianagaram, India Abstract: This paper deals with speed contro! of separately excited DC motor control in a high performance ‘manner. There are four different parts of control of DC motors used in this project. Using ehopper as a converter the speed of DC motor is controliable. ‘The chopper firing circuit gets signal from controller and then by supplying variable voltage to the armature of the motor the desired speed chopper is achieved. There are two different types ‘of control loops, current controller and speed controller. The controller used is Proportional-Integral type. Using. this controller the delay is removed and fast control is achieved. Separately excited DC motor is designed . The ‘current and speed controller is designed and in order to get stable and high speed control of DC motor. The ‘simulation of model is done and analyzed in MATLAB (Simulink) under varying speed and torque condition. Keywords: chopper circuit, DC motors, open and closed loops, MATLAB (SIMULINK). 1, INTRODUCTION An electrical drive consists of electric motors, power controller and energy transmitting shaft. In modern electric drive system power electronic converters are used as power controller. Electric dives are mainly of two types: DC drives and. AC dives. They differ from each other in this way that the power supply in DC dives is provided by DC motor and power supply in AC drives is provided by AC motor. DC drives are widely used in applications requiring adjustable speed. control, frequent starting, good speed regulation, braking and reversing. Some important applications are paper mills, rolling mills, mine winders, hoists , printing presses, machine tools, traction, textile mills, excavators and cranes.. For inxustrial applications development of high performance motor drives are very essential. DC drives are less costly and less complex than AC drives . DC motors are used extensively in adjustable speed drives and position control system, The speed of DC motors can be adjusted above or below rated speed. Their speed above rated speed are controlled by field flux control and speed below rated speed is controlled by armature voltage. DC motors are widely used in industry because ofits low cost, less complex control structure and wide range of speed and torque. There are various methods of speed control of DC drives ~ armature voltage contro, field flux control and armature resistance control, For controlling the speed and eurrent of DC motor, speed and current controllers are used. The main work of controller is to minimize the error and the error is calculated by comparing output value with the set point. This paper mainly deals with conteoling DC motor speed using Chopper as power converter and PI as speed and current controler. 2. INTRODUCTION TO CHOPPERS. {A chopper isa static power electronic device which converts fixed de input voltage to a variable de output voltage. t ean be step up or step down. Chopper systems offer smooth contro, high efficiency, faster response and regeneration facility ‘The power semiconductor devices used for a chopper circuit can be force commutated thyristor, BJT, MOSFET, IGBT and GTO. Among above switches IGBT and GTO are widely used, These devices are generally represented by a switch, ‘When the switch is OFF, no current will flow. Current flows through the load when switch is ON, A chopper isa "semiconductor switch which is so high in speed. It connects source to load and disconnect the load from source at a fast speed. As shown in Figl. During the period Ton, ebopper is on and load voltage is equal tosource voltage Vs. During the period Toff, load voltage is zero and chopper is off. In this manner, a chopped de voltage is produced atthe load terminals Supplyto Fil cet armature ‘winding 4 “ Figure 1. Chopper reat and voltage nd current waveforms Average Volage, Vo= (Tow (FonsTofty'Vs o = ClowTy*Vs = avs ‘Ton-ontime Chopping period 3. INTRODUCTION TO SEPARATELY EXCITED D.CMOTOR Separately excited de motor has field and armature winding with separate supply voltage. Field winding supplies feld flux to armature, When DC voltge is applied to motor, current is fed to the armature winding through brushes and ‘commutator. Since rotor is placed in magnetic field and itis carying eurrent also, So motor will develops a back emf and a torque to balance load torque at particular speed, eh IO __ Supply to Back emf Field circuit ay «| £7) Figure 2. Circuit diagram of separately excited D.C.Motor‘When a separately excited de motor i excited by a field current I of and an armature current Ia of lows motor develops a beck EMF and a torque to balance the load torque at a particular speed. ‘The independent of the armature current Ia, Each winding is supplied separately. Any change inthe armature current has no effect on the field current. The Ifis generally much less than the Ta ‘Suppose Va is the armature voltage in volt, Ia is the armature current in ampere,Ee is the motor back emf in volt, La isthe ‘armature inductance in Henty Ra isthe armature resistance in ohm. ‘The armature equation is shown below: Vas Bg + laRa + Ladlwdt ‘The torque equations given by _ aw Tq =J 82+ Be tT [Equation for back emf of motor willbe Bg Kew Also. Tz = K ® Ia w= Wy —laRa)/ KO Now, from the above equation itis clear that speed of DC motor depends on applied voltage, armature current, armature resistance and field fux. So, there are three ways of eontwolling speed of DC motor ~ armature voltage contol, armature resistance contol and field flux control 4, MODELLING OF D.C. MOTOR FOR DRIVE SYSTEM ‘An electrical DC drive is a combination of controller, converter and DC motor. Here we are using chopper as a converter. ‘The basic principle behind DC motor speed control is that the output speed of DC motor ean be varied by controlling armature voltage keeping field voltage constant for speed below and up to rated speed . The output speed is compared ‘withthe reference speed and etror signal is then fed to speed controller. If there is a difference inthe reference speed and the feedback speed, Controller output will vary, The output ofthe speed controller isthe control voltage Eg that controls the operation duty cyete of converter, The converter output gives the required voltage V to bring motor speed back (othe desired speed. The Reference speed is provided through & potential divider because it is linearly related to the speed ofthe DC motor. Now the output speed of motor is measured by Tacho-generator. The tacho voltage we will get from the tacho generator contains ripple and it will ot be perfectly de. So, we require a filter witha gain to bring Tacho output back to ‘controller level. The basic block diagram for DC motor speed control is shown below On 44 cowerren |} woror Nt urerwmh oN TACHOGENERATOR Figure 3: Closed loop model for speed contra of de motor‘The controller sed in a closed loop madel of DC motor provides a very easy and common technique of keeping motor speed at any desired set-point speed under changing load conditions, This controller ean also be used to keep the speed at the set-point value when the set-point is ramping up or down at a defined rate. In this closed loop speed controller, a voltage signal is obvained from the Tacho-generator attached to the rotor which is proportional to the motor speed is fed hack to the input where signal is subtracted from the set-point speed to produce an eror signal. This eror signal is then fed to controler to make the motor run at the desired set-point speed. Ifthe error speed is negative, this means the motor is running slow so that the controler ouput should be increased and vice-versa ‘There are different types of conteoller available and its selection is also an important work Some of the controllers which are most widely used are ~ ‘proportional controller on-off contoler, integral controller, derivative controller and PID controller. In proportional controller error speed is proportional to the measured output. This controler has the limited use and can never force the ‘ofor to run exactly atthe set point speed. Therefore an improvement is required for correction in the output. In PL controller, the proportional term does the job of fast correction and the integral term takes finite time to act and makes the steady state error zero. In derivative approach further refinement is done. This controller will allow the rate of change of ‘error speed to apply an addtional correction to the output drive. It can be used to give a very fast response to sudden changes in motor speed. In simple PID controllers it becomes very difficult to generate a derivative tem in the output that has any significant effect on speed of motor. It can be deployed to reduce the rapid speed oscillation caused by high ‘proportional gain. Therefore, in many controllers, it is not used, The derivative action causes the noise (random error) in ‘the main signal .o be amplified and reflected in the controller output, Hence the most suitable controller for speed control is PL type controller. 5. MATLAB SIMULATION AND RESULTS. In this paper the speed control of D.C MOTOR is done by using current controller and speed controller Inthe open loop ‘model the output speed is uncontrolled as shown in below fi d Figure 4 Simulink model of open loop model of chopper with de machineSpecifications of elements used in open lop mode: ELEMENTS paar D.CVoltage source 2a, Pulse Generator: mi Amplitude Period aes. Pulse Wid (% of period) od DCMOTOR: “SHLP. S00V 1750RPM Field El TORQUE eae ‘Simulation output of open loop model of chopper with de machine Figure §. Armature current waveform Figure 6 Speed waveform In the open loop model of speed control of separately excited D:C.Motor for the machine the output speed is more than '20rad/sec, and the armature curent is observed to be above the rated value, These two parameters can be controlled by using closed loop modelFigure 7 Simulink model of closed loop model of chopper with D.C Machine For the same ratings ofthe machine as in case of open loop model, the controlled output is as shown below: Figure. Armature current waveform Page | 294