Bahir Dar University

Institute of Technology

Faculty of Electrical Engineering

(Power and Control Stream)

Course Code 5252: B.Sc. Thesis

‘‘Wireless DC Motor speed control and direction control ”

Group members ID NO

1. Fikerte Haile ………………………………………….765/03

2. Fitsum Haile…………………………………………...787/03

3. Solomon Girmay ……………………………………..702/03

4. Yordanos Teshome …………………………………..2151/03

Advisor: Mr Tewodros. G

Sub Date: 12/10/07 E.C

Acknowledgment
First we would like to praise our lord for his invaluable help. Then we would like to express our
deepest gratitude and appreciation to all those who gave us the possibility to complete this report.
A special thanks to our adviser Mr. Tewodros Gera, for his follow up, advice, comment and
stimulating suggestion, helped us to coordinate our project especially in writing this thesis.
we would like to acknowledge with much appreciation for Mr Aderajew, who is the computer
school teacher , supports us by giving hard ware materials and make a advices on the thesis We
also like to give heartfelt thanks to all teachers of the school. And for most we would like to take
this opportunity to thank all our lecturers who have helped directly or indirectly for our project.
Furthermore we pay our respects and love to our parents and all other family members and friends
for their love and encouragement throughout our career. At last we express our thanks to our
friends for their cooperation in sharing their knowledge and support.

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Table of Contents
Acknowledgment ............................................................................................................................. i
List of Figures ................................................................................................................................ iv
List of tables .................................................................................................................................... v
List of Acronyms ........................................................................................................................... vi
Abstract ......................................................................................................................................... vii
1. Introduction ............................................................................................................................. 1
1.1. Back ground ..................................................................................................................... 1
1.2. Statement of the problem ................................................................................................. 2
1.3. Objectives of the project .................................................................................................. 2
1.3.1. General objective ...................................................................................................... 2
1.3.2. Specific objective .......................................................................................................... 2
1.4. Methodology .................................................................................................................... 2
1.5. Major assumption made for the project............................................................................ 3
1.6. Scope of the project .......................................................................................................... 3
2. Litrature Review ..................................................................................................................... 4
3. System components and operations ............................................................................................ 6
3.1. DC Motor ............................................................................................................................. 6
3.1.1. Theory of DC motor and controlling ............................................................................ 6
3.1.2. Types of DC motor ....................................................................................................... 6
3.1.3. Brushed DC Motor ...................................................................................................... 10
3.2. An Arduino..................................................................................................................... 14
3.3. Bread board .................................................................................................................... 15
3.4. Transistor........................................................................................................................ 15
3.5. Jump wire ....................................................................................................................... 16
3.6. Variable resistor ............................................................................................................. 17
3.7. ZigBee Module ............................................................................................................... 17
4. System design and analysis ....................................................................................................... 18
4.1. System design for wired DC motor speed and direction control ....................................... 18
4.2 System Analysis of wired DC motor speed and direction control ...................................... 18

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 4.3. System Design for Wireless DC motor speed control ....................................................... 22
4.4. System analysis for wireless DC motor speed and Direction control ................................ 23
5. Result and Decision .............................................................................................................. 27
5.1. Simulation and result for wired DC motor speed control .................................................. 27
5.2. Discussion for wired DC motor speed control ............................................................... 28
5.3. Simulation and result for wireless DC motor speed control .............................................. 29
5.4. Discussion for Wireless DC motor speed control .............................................................. 29
5.5. Hardware implementation results and discussion for wired DC motor speed control ...... 30
5.5.1. Hard ware installation for wire dc motor control........................................................ 30
6. Conclusion and Recommendation ............................................................................................ 36
6.1. Conclusion ......................................................................................................................... 36
6.2. Recommendation ............................................................................................................... 36
Reference ...................................................................................................................................... 38

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List of Figures
Figure 3.1. Separately excited DC motor…………………………………………………………..7

Figure 3.2. Shunt wound self-excited DC motor…………………………………………………...8

Figure 3.3. Serious Wound Self-exited DC motor…………………………………………………8

Figure 3.4. Compound wound self-exited DC motor………………………………………………9

Figure 3.5. Short shunt DC motor………………………………………………………………...10

Figure 3.6. Long shunt C motor…………………………………………………………………..10

Figure 3.7. Uno Arduino……………………………………….…………………………………15

Figure 4.1. Design of wired DC motor speed and direction control……………………………...18

Figure 4.2. Structure- of H Bridge………………………………………………………………..21

Figure 4.3. Block diagram for wireless transmitter diagram section ……………………………..22

Figure 4.4. Block diagram for wireless receiver diagram section ………………………………..22

Figure 5.1. Schematic diagram for wired DC motor control……………………………………...27

Figure 5.2: Schematic diagram wireless DC motor control ………………………………………29

Figure 5.3: Image of hard ware installation………………………………………………………31

Figure 5.4: Simulation diagram on proteus……………………………………………………….32

Figure 5.5: Arduino code for wired DC motor speed control……………………………………..32

Figure 5.6: Image for Arduino having a 25% duty cycle, provide a 1/4 of power to the motor……33

Figure 5.7: Image for Arduino having a 50% duty cycle, provide a 1/2 of power to the motor……34

Figure 5.8: Image for Arduino having a 75% duty cycle, provide a 3/4 of power to the motor……34

Figure 5.9: Image for Arduino having a 100% duty cycle, provide full power to the motor………35

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List of tables
Table 5.1: Truth table for H-Bridge wired DC motor control…………………………………….28

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List of Acronyms

AC……………………………………………………………..Alternating Current

CPU……………………………………………………………Control Processing Unit

DC……………………………………………………………...Direct Current

EMF……………………………………………………………Electro Motive Force

GND……………………………………………………………Ground

LED…………………………………………………………….Light Emitting Diode

PWM……………………………………………………………Pulse Width Modulation

RF……………………………………………………………….Radio Frequency

Sepex…………………………………………………………...Separately Exited

USB…………………………………………………………….Universal Serial Bus

VIN…………………………………………………………….Voltage Input

V……………………………………………………………….Volt

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Abstract
Nowadays, there are lots of good-quality motor speed controls on the market. However, their costs
are relatively high. A speed control with both low cost and good performance will be highly
marketable. On the other hand, the wireless connectivity has a nature of low cost and less
environmental limitations. Combining these ideas together, we came up with this project. This is
a very interesting application. We have varied the speed of DC motor from a remote place without
any wire connection. We have used PWM (pulse width modulation) method to vary the speed of
DC Motor. This project is a versatile device that can control DC devices which draw up to a few
amps of current. We have prepared simulation for the wireless control of the motor while there is
no protocol that use for wireless communication. As a result we have develop wired DC motor
speed control prototype. Arduino is the microcontroller we have used to perform this project. The
transmitter microcontroller PWM using potentiometer as input direction from switch input.
Generated signal will pass through transmitter ZigBee protocol for transmit the signal. Transmitted
signal received and recovered using receiver ZigBee protocol. Then, the signal will inter into
receiver microcontroller which leads the signal into valuable voltage signals. Motor driver was the
responsible to drive the motor as oriented direction and speed. As we performed this project we
have gotten much knowledge over microcontroller and its compiling mechanism. Generally even
if there exist number of controlling system, we have preferred wireless since its less complexity,
low cost and reliability.

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 Chapter one

1. Introduction

1.1. Back ground

Control systems are an integral part of today’s society. Many applications are all around
us, such as a self-guided vehicle delivering materials to workstations in an aerospace assembly
plant glides along the floor seeking its destination, the rockets fire, the space shuttle lifts off to
earth orbit etc. There is control in every aspects of life such as a policeman controlling the
traffic, a fireman trying to bring fire under control. In contrast digital cameras, video games and
cell phones are not examples of control system as they do not seek to track a reference input.

In a modern industrial situation, DC motor is widely used which is due to the low initial cost,
excellent drive performance, low maintenance and the noise limit. As the electronic technology
develops rapidly, its provide a wide scope of applications of high performance DC motor drives
in areas such as rolling mills, electric vehicle tractions, electric trains, electric bicycles, guided
vehicles, robotic manipulators, and home electrical appliances[21]. The advantages of using Dc
motors over conventionally used AC motors are, DC motors have better overload and peak voltage
characteristics, DC motors have higher controller efficiency and also DC motor has typical 98%
efficiency.

The wireless remote controller is simple to start, stop, accelerate and decelerate. The source of the
speed control is a 12 V battery and control currents over a range of 0 to 50 A. The controller has a
high efficiency for motor loads in the range of 50 to 150 W. It should deliver the nominal power
continuously and be able to tolerate slight overloading for a short period of time. For strong
overloading, it should protect the motor from being damaged for a few seconds, then shut down
the motor and request a reset from the user simultaneously Wireless communication is the
transmission of information without using of electrical conductors. Distances involved is probably
several meters such as in the television remote control or thousands kilo meters for radio
communications [15].

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In general, wireless communication regarded as a branch of telecommunications. It covers wide
range of fixed radio, portable two-ways radio and wireless networking. Wireless operation allows
services such as long distance communication which is impossible to implement with the use of
wires [20][18]. It usually used in telecommunication industries which is refer to
telecommunication system that used some form of energy such as radio frequency (RF), laser light
and visible light to convey information without need of wires

1.2.Statement of the problem

In real world, motor applications not using the maximum speed of motor. It may be uses only 50%
of its speed. So, the speed of the motor must be controlled. There are lots of good-quality motor
speed controls on the market. However, their costs are relatively high. A speed control with both
low cost and good performance will be highly marketable.

1.3. Objectives of the project

1.3.1. General objective

Increasing performance efficiency of Dc motor by controlling its direction and speed

1.3.2. Specific objective

i. practicing different kind of DC motor controlling mechanisms.
ii. Increase industries productivity.
iii. Introducing cost effective and less complex DC motor controlling method.

1.4. Methodology

The methodology we have followed during the development of this project which starts from
project title selection up to the complete project submission is presented in this section. First we
did appropriately select the project title. After a topic has been selected, additional discussions
were done in order to understand the concept and objective of the project. Then, literature review
was done and the background of this project was studied by referring to various sources such as
journals, articles, reference books, internet, lecture notes and data sheets.

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After that select the proper materials which is used in our project.

i. Select types of dc motor within its special specifications like Hp, voltage,
frequency and phase.
ii. Select types of controlling mechanisms

After selecting those materials we did design full system circuits and now the system is ready for
simulation and experimental testing. The simulation testing process will keep repeating until full
functional test and reliability test pass. The final work of our project is to make prototype for the
developed system.

1.5. Major assumption made for the project

The major assumption of this project is, the motor types should be only DC motor and must have
small power consumption.

1.6. Scope of the project

i. Designing a circuit for wired DC motor speed and direction control
ii. Designing a circuit for wireless DC motor speed and direction control
iii. Making prototype for the wired DC motor speed and direction control.

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 Chapter two

2. Litrature Review

Technology leads as to on go advanced controlling system in the industry. Consequently there

exist different kind of improvement for machines inside the industry based on the project owner
interest and the market need. From those machine getting improvement DC motors can be counted.
As the essentiality of DC motor different kind of improvement has been done on it. The major type
is speed and direction controlling system the one. There are a number of project which deals with
DC motor speed and direction control.

PWM direct transmission through RF for motor speed and direction controlling by Umar Farooq
(2) and Muhammad Ihtesham Adil(3) on and Syed Ahsan Ali[1].The goals of this project are to
control the direction and speed of DC motor. It uses friendly network for the wireless
communication. It is quite good in its application area like toy and industry. Not only had this there
exist number of wireless based motor controlling. This able to the market to get controlling system
with low cost. As a result the initial cost of DC motor based industries or goods will have smaller
cost.

Wireless DC Motor Speed Control Senior Design Proposal 2012 spring by Yu Qiao & Jing Y. Guo
TA: Jim Kolodziej [2]. The project deals with High-performance low-cost low-loss wireless DC
motor speed control unit. The wireless remote controller is simple: start, stop, accelerate and
decelerate. The source of the speed control is a 12 V battery and control currents over a range of
0 to 50 A. The controller has a high efficiency for motor loads in the range of 50 to 150 W. It is
easy and low cost type of controlling.

Direction and Speed Control of DC Motor Norfadilah Binti Zukeflit University Malaysia Pahang
MAY 2012[6]. The goals of this project are to control the direction and speed of DC motor. This
project consist of circuit is for transmitter and another circuit is for the receiver. These can be
counted as appreciate works on DC motor controlling system.

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There is also such kind of controlling for induction motor Wireless Speed Control of an Induction
Motor Using Pwm Technique with Gsm by P.S.Joshi, Prof.A.M.Jain on May. - Jun. 2013 which
has been published on IOSR Journal of Electrical and Electronics Engineering (IOSR-JEEE)
[e-ISSN: 2278-1676, p-ISSN: 2320-3331, Volume 6, Issue 2]. Which presented design and
analysis of a three phase induction motor drive using IGBT’s at the inverter power stage with volts
hertz control (V/F) in closed loop using a microcontroller.

Now a days induction motor loss there place from industries by replaced with DC motors, the
significance of project with induction motor also loss a value yet the project has good quality of
controlling.

These and similar works inspire us and we try to develop such control system for our country
industries in order to increase their production and efficiency. Since increasing the efficiency of
the motor save money, energy and increase productivity.

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 Chapter Three

3. System components and operations

3.1. DC Motor

3.1.1. Theory of DC motor and controlling

The device that converts electrical energy into mechanical energy is called as a motor. The motor
that utilizes a DC supply to produce mechanical output is DC Motor. The advantages of using
these types of motors over conventionally used AC motors are that, DC motors have higher
controller efficiency, DC motors have typical 98% efficiency, DC motors have better overload and
peak voltage characteristics and also the main advantage of using these DC motors is that the speed
torque characteristics can be varied to almost any useful form. As a result of all these advantages
these motors have a wide range of applications in places where constant speed is to be maintained
at varying loads. Conveyor belts, elevators, cranes, ski lifts, extruders, mixers, sewing machines
are few such applications where DC motors are used. So controlling the speed of a DC motor is a
purposeful and required place to work on.

3.1.2. Types of DC motor

A. Permanent Magnet DC Motor

In a dc motor, an armature rotates inside a magnetic field. Basic working principle of DC motor is
based on the fact that whenever a current carrying conductor is placed inside a magnetic field,
there will be mechanical force experienced by that conductor. All kinds of DC motors work in this
principle only. Hence for constructing a dc motor it is essential to establish a magnetic field. The
magnetic field is obviously established by means of magnet. The magnet can by any types i.e. it
may be electromagnet or it can be permanent magnet. When permanent magnet is used to create
magnetic field in a DC motor, the motor is referred as permanent magnet dc motor. These types of
motor are essentially simple in construction. These motors are commonly used as starter motor in
automobiles, windshield wipers, washer, for blowers used in heaters and air conditioners, to raise
and lower windows, it also extensively used in toys. As the magnetic field strength of a permanent
magnet is fixed it cannot be controlled externally, field control of this type of dc motor cannot be

6
possible. Thus permanent magnet dc motor is used where there is no need of speed control of
motor by means of controlling its field. Small fractional and sub fractional kW motors now
constructed with permanent magnet.

B. Separately Excited DC Motor

Like other DC motors, these motors also have both stator and rotor. Stator refers to the static part
of motor, which consists of the field windings. And the rotor is the moving armature which
contains armature windings or coils. Separately excited dc motor have field coils similar to that of
shunt wound dc motor. The name suggests the construction of this type of motor. Usually, in other
DC motors, the field coil and the armature coil both are energized from a single source. The field
of them does not need any separate excitation. But, in separately excited DC motor, separate supply
sources are provided for excitation of both field coil and armature coil. Look carefully at the
diagram. Here, the field coil is energized from a separate DC voltage source and the armature coil
is also energized from another source. Armature voltage source may be variable but, independent
constant DC voltage is used for energizing the field coil. So, those coil are electrically isolated
from each other, and this connection is the specialty of this type of DC motor.

Figure 3.1: Separately excited DC motor

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 C. Self-excited DC motor
In this the shunt winding is connected partly or completely in series or parallel, to the armature
winding and so it can thus be subdivided as: -

i. Shunt wound self-excited DC motor

Figure 3.2: Shunt wound self-excited DC motor

In this case, the field winding are exposed to the entire terminal voltage as they are connected in
parallel to the armature winding as shown in the figure. The shunt wound dc motor is a constant
speed motor, as the speed does not vary here with the variation of mechanical load on the output.
It comes under the category of Self excited DC Motor.

ii. Series wound self-excited DC motor

Figure 3.3: Series wound self-excited DC motor

8
In this case, the entire armature current flows through the field winding as it’s connected in series
to the armature winding. The series wound self-excited dc motor is diagrammatically represented
for better understanding. In a series wound dc motor, the speed varies with load. And operation
wise this is its main difference from a shunt wound dc motor.

iii. Compound wound self-excited DC motor

Figure 3.4: Compound wound self-excited DC motor

The compound excitation characteristic in a dc motor is obtained by combining the operational

characteristic of both the shunt and series excited dc motor. The compound wound self-excited dc
motor or simply compound wound dc motor essentially contains the field winding connected both
in series and in parallel to the armature winding. The excitation of compound wound dc motor can
be of two types depending on the nature of compounding

a. Cumulative Compound DC Motor, in which the shunt field flux assists the main field flux,
produced by the main field connected in series to the armature winding. φtotal = φseries +
φ shunt.
b. Differential compound dc motor, in which the arrangement of shunt and series winding is
such that the field flux produced by the shunt field winding diminishes the effect of flux
by the main series field winding. The net flux produced in this case is lesser than the
original flux and hence does not find much of a practical application. φtotal = φseries –
shunt

Both the cumulative compound and differential compound dc motor can either be of short shunt
or long shunt type depending on the nature of arrangement.

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 i. Short shunt Dc motor

Figure 3.5: Short shunt Dc motor

If the shunt field winding is only parallel to the armature winding and not the series field winding
then it’s known as short shunt dc motor or specifically short shunt type compound wound dc
motor. Shunt is basically an arm that is connected in parallel, so it is c a Short Shunt DC Motor.
DC Shunt motor is used in devices where Speed control is essential. Its major application is in
centrifugal pumps as they produces constant flux.

ii. Long Shunt DC Motor

Figure 3.6: Long Shunt DC Motor

If the shunt field winding is parallel to both the armature winding and the series field winding then
it’s known as long shunt type compounded wound dc motor or simply long shunt dc motor. For
all these types of DC motor common methods of speeds controls.

3.1.3. Brushed DC Motor

A brushed DC motor is an internally commutated electric motor designed to be run from a direct
current power source. Brushed motors were the first commercially important application of electric
power to driving mechanical loads, and DC distribution systems were used for more than 100 years

10
to operate motors in commercial and industrial buildings. Brushed DC motors can be varied in
speed by changing the operating voltage or the strength of the magnetic field. Depending on the
connections of the field to the power supply, the speed and torque characteristics of a brushed
motor can be altered to provide steady speed or speed inversely proportional to the mechanical
load. Brushed motors continue to be used for electrical propulsion, cranes, paper machines and
steel rolling mills. Since the brushes wear down and require replacement, brushless DC motors
using power electronic devices have displaced brushed motors from many applications.

Simple two-pole DC motor

A simple DC electric motor. When the coil is powered, a magnetic field is generated around the
armature. The left side of the armature is pushed away from the left magnet and drawn toward the
right, causing rotation when the armature becomes horizontally aligned, the torque becomes zero.
At this point, the commutator reverses the direction of current through the coil, reversing the
magnetic field. The process then repeats. When a current passes through the coil wound around a
soft iron core, the side of the positive pole is acted upon by an upwards force, while the other side
is acted upon by a downward force. According to Fleming’s left hand rule, the forces cause a
turning effect on the coil, making it rotate. To make the motor rotate in a constant direction, “direct
current” commutators make the current reverse in direction every half a cycle (in a two-pole motor)
thus causing the motor to continue to rotate in the same direction

Brushed DC motors are constructed with wound rotors and either wound or permanent-magnet
stator: -

1. Wound field coils: - have traditionally existed in four basic formats, separately excited (sepex),
series-wound, shunt halbach arrays are employed. This, in turn, gives power to the motor at lower
speeds. However, the focused flux density cannot rise about the limited residual flux density of
the permanent magnet despite high coercively and like all electric machines, the flux density of
magnetic core saturation is the design constrain wound, and a combination of the latter two;
compound wound. In a series wound motor, the field coils are connected electrically in series with
the armature coils (via the brushes). In a shunt wound motor, the field coils are connected in
parallel, or “shunted” to the armature coils. In a separately excited (sepex) motor the field coils are
supplied from an independent source, such as a motor-generator and the field current is unaffected

11
by changes in the armature current. The sepex system was sometimes used in DC traction motors
to facilitate control of wheelies.

2. Permanent magnet: -Permanent-magnet types have some performance advantages over direct-
current, excited, synchronous types, and have become predominant in fractional horsepower
applications. They are smaller, lighter, more efficient and reliable than other singly fed electric
machines. Originally all large industrial DC motors used wound field or rotor magnets. Permanent
magnets have traditionally only been useful on small motors because it was difficult to find a
material capable of retaining a high strength field. Only recently have advances in materials
technology allowed the creation of high-intensity permanent magnets, such as neodymium
magnets, allowing the development of compact, high-power motors without the extra real-estate
of field coils and excitation means. But as these high performance permanent magnets become
more applied in electric motor or generator systems, other problems are realized.

Speed control of Brushed DC motor

Generally, the rotational speed of a DC motor is proportional to the EMF in its coil (= the voltage
applied to it minus voltage lost on its resistance), and the torque is proportional to the current.
Speed control can be achieved by variable battery tapings, variable supply voltage, resistors or
electronic controls. The direction of a wound field DC motor can be changed by reversing either
the field or armature connections but not both. This is commonly done with a special set of
contactors (direction contactors). The effective voltage can be varied by inserting a series resistor
or by an electronically controlled switching device made of thyristor, transistors, or, formerly,
mercury arc rectifiers.

Torque and speed of a DC motor

A DC motor's speed and torque characteristics vary according to three different magnetization
sources, separately excited field, self-excited field or permanent field, which are used selectively
to control the motor over the mechanical load’s range. Self-excited field motors can be series,
shunt, or compound wound connected to the armature.

Basic DC motor equations

Let
Eb = induced or counter emf (V)

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Ia = armature current (A)
kb = counter emf equation constant
kn = speed equation constant
kT = torque equation constant
n = armature speed (rpm

Rm = motor resistance (Ω)

T = motor torque (Nm)
Vm = motor input voltage (V)
Ø = machine’s total flux (Wb)

Counter Emf equation

The DC motor’s counter Emf is proportional to the product of the machine’s total flux strength
and armature
speed:
Eb = kb* Ø * n

Voltage balance equation

The DC motor’s input voltage must overcome the counter Emf as well as the voltage drop
created by the armature current across the motor resistance, that is, the combined resistance
across the brushes, armature winding and series field winding, if any: -
Vm = Eb + Rm * Ia

Torque equation
The DC motor’s torque is proportional to the product of the armature current and the machine’s
total flux strength:
T = kb * Ia * Ø / (2π)
T = kT * Ia* Ø
Where
kT = KT / (2π)

13
Speed equation
since
n = Eb/ (kb * Ø) and Vm = Eb + Rm*Ia
we have
n = (Vm - Rm * Ia) / (kb * Ø)
n = kb * (Vm - Rm * Ia) / Ø
Where
kb = 1 / k

Torque and speed characteristics

Shunt wound motor
With the shunt wound motor’s high-resistance field winding connected in parallel with the
armature, Vm, Rm and Ø are constant such that the no load to full load speed regulation is
seldom more than 5%.Speed control is achieved three ways:
i. Varying the field voltage
ii. Field weakening
iii. Variable resistance in the field circuit

3.2. An Arduino
Arduino is an open-source computer hardware and software company, project and user community
that designs and manufactures kits for building digital devices and interactive objects that can
sense and control the physical world. The Arduino Uno is a microcontroller board based on
the ATmega328 (datasheet). It has 14 digital input/output pins (of which 6 can be used as PWM
outputs), 6 analog inputs, a 16 MHz ceramic resonator, a USB connection, a power jack, an ICSP
header, and a reset button. It contains everything needed to support the microcontroller; simply
connect it to a computer with a USB cable or power it with an AC-to-DC adapter or battery to get
started.

14
 Figure 3.7: Uno Arduino

Arduino is more familiar microcontroller. It can programed using c, with simple program moreover
it is open source, beside it does not need additional compiler to its program and it is the only
microcontroller we can gate nearby in our faculty. Due to these reasons we have selected Arduino.

3.3. Bread board

A breadboard is a construction base for prototyping of electronics originally it was literally a bread
board, a polished piece of wood used for slicing bread. In the 1970s the solderless breadboard
(AKA plug board, a terminal array board) became available and nowadays the term “breadboard”
is commonly used to refer to these. “Breadboard” is also a synonym for "prototype". Because the
solderless breadboard does not require soldering, it is reusable. This makes it easy to use for
creating temporary prototypes and experimenting with circuit design. For this reason, solderless
breadboards are also extremely popular with students and in technological education. Older
breadboard types did not have this property. A strip board (overboard) and similar prototyping
printed circuit boards, which are used to build semi-permanent soldered prototypes or one-offs,
cannot easily be reused. A variety of electronic systems may be proto typed by using breadboard
from small analog and digital circuits to complete central processing units (CPUs).

3.4. Transistor
A transistor is a semiconductor device used to amplify and switch electronic signals and electrical
power. It is composed of semiconductor material with at least three terminals for connection to an

15
external circuit. A voltage or current applied to one pair of the transistor's terminals changes the
current through another pair of terminals. Because the controlled (output) power can be higher
than the controlling (input) power, a transistor can amplify a signal. Today, some transistors are
packaged individually, but many more are found embedded in integrated circuits.

Transistors are commonly used as electronic switches, both for high-power applications such
as switched-mode power supplies and for low-power applications such as logic gates.

In a grounded-emitter transistor circuit, such as the light-switch circuit shown, as the base voltage
rises, the emitter and collector currents rise exponentially. The collector voltage drops because of
reduced resistance from collector to emitter. If the voltage difference between the collector and
emitter were zero (or near zero), the collector current would be limited only by the load resistance
(light bulb) and the supply voltage. This is called saturation because current is flowing from
collector to emitter freely. When saturated, the switch is said to be on.

Providing sufficient base drive current is a key problem in the use of bipolar transistors as switches.
The transistor provides current gain, allowing a relatively large current in the collector to be
switched by a much smaller current into the base terminal. The ratio of these currents varies
depending on the type of transistor, and even for a particular type, varies depending on the collector
current. In the example light-switch circuit shown, the resistor is chosen to provide enough base
current to ensure the transistor will be saturated.

In any switching circuit, values of input voltage would be chosen such that the output is either
completely off, or completely on. The transistor is acting as a switch, and this type of operation is
common in digital circuits where only "on" and "off" values are relevant.

3.5. Jump wire

A jump wire, is a short electrical wire with a solid tip at each end (or sometimes without them,
simply “tinned”), which is normally used to interconnect the components in a breadboard. Among
others, they are used to transfer electrical signals from anywhere on the breadboard to the
input/output pins of a microcontroller. Jump wires are fitted by inserting their “end connectors”
into the slots provided in the breadboard that beneath its surface has a few sets of parallel plates
that connect the slots in groups of rows or columns depending on the area. The “end connectors”

16
are inserted into the breadboard, without soldering, in the particular slots that need to be connected
in the specific prototype.

3.6. Variable resistor

A potentiometer is an instrument for measuring the potential (voltage) in a circuit. Before the
introduction of the moving coil and digital volt meters, potentiometers were used in measuring
voltage, hence the '-meter' part of their name. The method was described by Johann Christian
Poggendorff around 1841and became a standard laboratory measuring technique. In this
arrangement, a fraction of a known voltage from a resistive slide wire is compared with an
unknown voltage by means of a galvanometer. The sliding contact or wiper of the potentiometer
is adjusted and the galvanometer briefly connected between the sliding contact and the unknown
voltage. The deflection of the galvanometer is observed and the sliding tap adjusted until the
galvanometer no longer deflects from zero. At that point the galvanometer draws no current from
the unknown source, and the magnitude of voltage can be calculated from the position of the
sliding contact. This null balance measuring method is still important in electrical metrology and
standards work and is also used in other areas of electronic.

Working of Potentiometer; Potentiometer is a simple device used to measure the internal resistance
of a cell. It consists of a board where a tungsten or manganese wire s fitted on it. It works on the
principle that the potential dropped between two points in a wire of uniform cross section is directly
proportional to the distance between the points.

3.7. ZigBee Module

It is a specification for a suite of high-level communication protocols used to create personal area
networks built from small, low-power digital radios. Its low power consumption limits
transmission distances to 10–100 meters line-of-sight, depending on power output and
environmental characteristics, ZigBee devices can transmit data over long distances by passing
data through a mesh network of intermediate devices to reach more distant ones. ZigBee is
typically used in low data rate applications that require long battery life and secure. Applications
include wireless light switches, electrical meters with in-home-displays, traffic management
systems, and other consumer and industrial equipment that requires short-range low-rate wireless
data transfer.

17
 Chapter Four

4. System design and analysis

4.1. System design for wired DC motor speed and direction control
For wired DC motor speed and direction control

Figure 4.1: Design of wired DC motor speed and direction control

4.2 System Analysis of wired DC motor speed and direction control

Potentiometer: - Potentiometer is a simple knob that provides a variable resistance, which we can
read into the Arduino board as an analog value. We connect three wires to the Arduino board. The
first goes to ground from one of the outer pins of the potentiometer. The second goes from 5 volts
to the other outer pin of the potentiometer. The third goes from analog input 2 to the middle pin of
the potentiometer. By turning the shaft of the potentiometer, we change the amount of resistance
on either side of the wiper which is connected to the center pin of the potentiometer. This changes
the relative "closeness" of that pin to 5 volts and ground, giving us a different analog input.

18
When the shaft is turned all the way in one direction, there are 0 volts going to the pin, and we
read 0. When the shaft is turned all the way in the other direction, there are 5 volts going to the pin
and we read 1023. In between, analog Read () returns a number between 0 and 1023 that is
proportional to amount of voltage being applied to the pin. We use 10k variable resistor for these
project.

Uno Arduino: - Pulse Width Modulation, or PWM, is a technique for getting analog results with
digital means. Digital control is used to create a square wave, a signal switched between on and
off. This on-off pattern can simulate voltages in between full on (5 Volts) and off (0 Volts) by
changing the portion of the time the signal spends on versus the time that the signal spends off.
The duration of "on time" is called the pulse width. To get varying analog values, you change, or
modulate, that pulse width. If you repeat this on-off pattern fast enough with an LED for example,
the result is as if the signal is a steady voltage between 0 and 5v controlling the Speed and direction
of DC motor. To control the speed of the motor, all we need to do is to replace digital
Write function on H-bridge enable pins to analog Write. The speed of the motor depends on value
that was passed to the analog write function. Remember the value can be between 0 and 255. If
you pass 0, then the motor will stop and if you pass 255 then it will run at full speed. If you pass a
value between 1 and 254, then the speed of the motor will vary accordingly.

We connect to the enable pins of H-bridge to pins 10 and 11 of Arduino. This is because pins 10
0and 11 are PWM pins. And we connect the switch button to pin 9 to control the direction and
because pin 9 are PWM pins. As the switch is high the motor rotates clockwise direction and as
the switch opens then the motor turns to counter clockwise direction based on the program we
have written on the Arduino.

We have programed the Arduino as: -

int motorpin = 9;

int potpin = A0;

int speed;

int dir1=12;

int dir2=11;

19
int sw=0;

void setup()

pinMode (dir1, OUTPUT);

pinMode (dir2, OUTPUT);

pinMode (sw, INPUT);

void loop ()

if(digitalRead(sw) == HIGH)

digitalWrite (dir1,HIGH);

digitalWrite (dir2,LOW);

else

digitalWrite (dir1,LOW);

digitalWrite (dir2,HIGH);

speed = analogRead (potpin)/4.0;

analogWrite (motorpin,speed);

delay (20);

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H-Bridge: - Sometimes called a "full bridge" the H-bridge is so named because it has four
switching elements at the "corners" of the H and the motor forms the cross bar. It is an electronic
circuit that enables a voltage to be applied across a load in either direction. These circuits are often
used to allow DC motors to run forwards and backwards.

Figure 4.2: Structure of H-Bridge

The key fact to note is that there are, in theory, four switching elements within the bridge. These
four elements are often called, high side left, high side right, low side right, and low side left (when
traversing in clockwise order).

The H-bridge arrangement is generally used to reverse the polarity/direction of the motor, but can
also be used to 'brake' the motor, where the motor comes to a sudden stop, as the motor's terminals
are shorted, or to let the motor 'free run' to a stop, as the motor is effectively disconnected from
the circuit.

DC Brush Motor
Depending on the connections of the field to the power supply, the speed and torque
characteristics of a motor can be altered to provide steady speed or speed inversely proportional
to the mechanical load. It gets instruction from the bridge not directly from the Arduino. Switch
we use simple toggle switch in order to give if statement to generate direction controlling out put

21
We use of a pushbutton as a switch: each time we press the button, the Direction of DC motor
change The main perpose of this project is to control the DC motor speed. In order to do this we
have different tasks.

the arduino is used as microcontroller and power supplier we will connect it with the bridge based
on our program. Consequently pin A0, pin 9, pin 11, pin 12 going to be the out put of the arduino
to our bridge.

4.3. System Design for Wireless DC motor speed control

Block diagram for wireless speed and direction control of DC motor
Transmitter section

Figure 4.3: Block diagram of Transmitter section

Receiver section

Figure 4.4: Block diagram of Receiver section

22
4.4. System analysis for wireless DC motor speed and Direction control
Again we have used dual arduino for the wireless control. The first arduino is for transmiter section
and the second arduino is reciver side. Both of them have there own programing in order to control
the motor.

By turning the shaft of the potentiometer, we change the amount of resistance on either side of the
wiper which is connected to the center pin of the potentiometer. This changes the relative
"closeness" of that pin to 5 volts and ground, giving us a different analog input. When the shaft is
turned all the way in one direction, there are 0 volts going to the pin, and we read 0. When the
shaft is turned all the way in the other direction, there are 5 volts going to the pin and we read
1023. In between, analog Read () returns a number between 0 and 1023 that is proportional to the
amount of voltage being applied to the pin. We use 10k variable resistor for these project

The potentionmeter is connected to the transmiter side pin A0 which is analog input to the rduino.
As the nobs changed the transmitter gaves to the reciever similar input. Consequently data will
transfer to the motor by the help of reciever arduino.

Transmitter ardiuno

The transmitter ardiuno has inputs by pin A0 and 0. As input A0 changes the out put pin A1 also
changes. The input on pin 0 makes the condition being clockwise and counter clockwise direction.
If the swich become high the out put on pin 12 becomes high and pin 11 become zero. As the
swich become low then pin 11 becomes high and pin 12 becomes low. This out put will going to
the reciever input in order to control the direction of the motor.

Transmitter Program

int potpin = A0;

int backpin = A1;

int dir1=12;

int dir2=11;

int sw=0;

void setup() {
23
 // put your setup code here, to run once:

pinMode (dir1, OUTPUT);

pinMode (dir2, OUTPUT);

pinMode (sw, INPUT);

void loop() {

// put your main code here, to run repeatedly:

if(digitalRead(sw) == HIGH)

digitalWrite (dir1,HIGH);

digitalWrite (dir2,LOW);

else

digitalWrite (dir1,LOW);

digitalWrite (dir2,HIGH);

Reciever Arduino

The analog out put of transmitter arduino will recommend reciever arduino to control the speed of
the motor. The speed of the motor going to varies based on the input analog signal of the arduino.
On the other hand the to inputs pin 13 and pin 12 going to control the direction of motor as pin 13

24
necome high and pin 12 low the motor will rotets to clockwise direction where as , as pin 12
become high and pin 13 becomes low the motor rotets to wards counter clockwise direction.

Reciver program

int motorpin = 8;

int compin = A1;

int speed;

int dir1=9;

int dir2=10;

int dir3=13;

int dir4=12;

void setup() {

// put your setup code here, to run once:

pinMode (dir1, OUTPUT);

pinMode (dir2, OUTPUT);

pinMode (compin, INPUT);

pinMode (dir3,INPUT);

pinMode(dir4,INPUT);

void loop() {

// put your main code here, to run repeatedly:

if(digitalRead(dir3) == HIGH)

25
 digitalWrite (dir1,HIGH);

digitalWrite (dir2,LOW);

else

digitalWrite (dir1,LOW);

digitalWrite (dir2,HIGH);

speed = analogRead (compin)/4.0;

analogWrite (motorpin,speed);

delay (20);

Motor driver

The motor driver gates its input from the reciever arduino and it make it suitable to the motor.

26
 Chapter five

5. Result and Decision

5.1. Simulation and result for wired DC motor speed control

Figure 5.1. Schematic diagram for wired DC motor control

27
 Table 5.1: Truth table for H-Bridge wired DC motor control

5.2. Discussion for wired DC motor speed control

There is a proteus simulation of speed control of DC motor with the help of Pulse width modulation
(PWM) control, PWM signals are generated by Arduino. Proteus is a really good simulation
software for beginners and Arduino is the most basic among all microcontroller so this can be a
very good project of motor control. The Arduino use analog input from the variable resistor or
potentiometer and convert it in to digital one. By turning the shaft of the potentiometer, we change
the amount of resistance on either side of the wiper which is connected to the center pin of the
potentiometer. When the potentiometer goes to minimum value, the motor speed will slow and
when the potentiometer will goes to maximum value, the motor will rotate with its maximum
speed. In between Arduino and motor there is gate driver which is H Bridge, the function of these
H Bridge is to allow the voltage has flow in either direction.

28
 5.3. Simulation and result for wireless DC motor speed control

Figure 5.2: Schematic diagram wireless DC motor control

5.4. Discussion for Wireless DC motor speed control

i. Transmitter circuit

The first Arduino (ard2) is the receiver part it has two inputs, potentiometer and switch. The
potentiometer is used to vary speed of the motor. As the nob changed it generates variable
resistance value. This value is analog as a result it inter in to Arduino by pin A0. This input transfer
in to receiver side being analog as a result the output should be on analog side of the ard2 using
pin A1. Whereas the switch is considered as case, when the switch closed then the output pin 12
becomes high and pin 11 low. When the switch opens then output pin 12 becomes low and pin 11
becomes high. These two out puts want to receiver side and help to control the direction of the
speed

ii. Receiver circuit

Arduino (Ard1) is our receiver part, it has three inputs one analog and two digital. Pin 13 and 12
are inputs whereas A0 is analog input. The analog inputs helps to vary the speed of DC motor and
29
the digital inputs used to change the direction of the motor. Whenever pin13 becomes high and pin
12 low the motor rotates clock wise and when pin 12 high and pin 13 low the motor rotates counter
clock wise direction.

iii. Motor drive

Our Arduino signal should be compatible with the motor as a result we use L293D motor driver.
This driver acts as the signal it receiver from nearby Arduino.

5.5. Hardware implementation results and discussion for wired DC motor speed control

5.5.1. Hard ware installation for wire dc motor control

Hardware of this wire system basically constitute of several components such as: -
1. Power supply
Our supply is Arduino Uno 5V. This pin outputs a regulated 5V from the regulator on the board.
The board can be supplied with power either from the DC power jack (7 - 12V), the USB connector
(5V), or the VIN pin of the board (7-12V). Supplying voltage via the 5V or 3.3V pins by passes
the regulator, and can damage your board. We don't advise it.

2. The motor control

To gain control of the speed of your motor whenever you need it, you need to add a potentiometer
to your circuit.

We need: -

An Arduino Uno

A breadboard

A transistor

A DC motor

A diode

A 10k ohm variable resistor

A 2.2k ohm resistor

Jump wires

30
Find a space on your breadboard to place your potentiometer. The central pin of the potentiometer
is connected back to pin 9 using a jump wire, and the remaining two pins are connected to 5V on
one side and GND on the other.

Figure 5.3: Image of hard ware installation

The 5V and GND can be on either side, but switching them will invert the value that the
potentiometer sends to the Arduino. Although the potentiometer uses the same power and ground
as the motor, note that they are separate circuits that both communicate through the Arduino.

31
 Figure 5.4: Simulation diagram on proteus

After we have built the circuit in the above, we write into Arduino compiler 1.6.4 then type the
following code.

Figure 5.5: Arduino code for wired DC motor speed control

32
Pulse width modulation

PWM is an effective method for adjusting the amount of power delivered to the load. PWM
technique allows a very smooth operation and reliable in nature. The Arduino can generated PWM
signal to adjusting the duty cycle of pulse simultaneously the motor terminal voltage can vary with
duty cycle and also speed will be a vary. The ratio of on time to off time is called as duty cycle.
The desired speed can be obtained by changing the duty cycle. The Pulse-Width-Modulation
(PWM) in Arduino microcontroller is used to control duty cycle of DC motor drive. PWM is an
entirely different approach to controlling the speed of a DC motor. Power is supplied to the motor
in square wave of constant voltage but varying pulse-width or duty cycle. Duty cycle refers to the
percentage of one cycle during which duty cycle of a continuous train of pulses. Since the
frequency is held constant while the on-off time is varied, the duty cycle of PWM is determined
by the pulse width. The figure shown below the change of duty cycle of The PWM Arduino
microcontroller. The Arduino microcontroller having a 25% duty cycle then it provide a ¼ of
power to the motor, when Arduino microcontroller having a 50% duty cycle then microcontroller
provide a ½ of power to the motor, when Arduino microcontroller having a 75% duty cycle then
Arduino Microcontroller provide a ¾ of power to the motor and finally the microcontroller provide
a 100% duty cycle then microcontroller provide a full power to the motor.

Figure 5.6: Image for Arduino having a 25% duty cycle, provide a ¼ of power to the motor

33
Figure 5.7: Image for Arduino having a 50% duty cycle, provide a 1/2 of power to the motor

Figure 5.8: Image for Arduino having a 75% duty cycle, provide a 3/4 of power to the motor

34
Figure 5.9: Image for Arduino having a 100% duty cycle, provide full of power to the motor

35
 Chapter Six

6. Conclusion and Recommendation

6.1. Conclusion

Controlling is one discipline, when we say motor controlling we have to study motor
characteristics of the motor and mechanisms of controlling it. As we control motor we increase it
performance. DC motor is being widely used by industries because of its feature. As we control it
speed we can save energy and money. As a result we have to decide the better controlling
mechanism. Even if there exist different mechanism of controlling DC we have selected wireless
controlling since it is less complex, low cost and reliable controlling.

Controlling the DC motor wirelessly decrease the time consume to command the motor as a result
we will save energy, loss of material, byproduct due to the interruption and decrease the rate of
damaging of equipment.

As we can vary DC motor speed and direction we are increasing efficiency of factories this
contributes on the development of the country. As long as we make the system cost low many
industry owns will purchase it. Consequently there production capacity will increase. On the other
hand the project contributes a lot on saving energy.

While we are doing this project we have gotten a lot of experience over DC motor and different
controlling mechanisms. This make us to do more on DC motor. This is not will be our last with
such kind of project we will do more.

6.2. Recommendation

Controlling DC motor will increase the efficiency of the motor this make industries to more
productive. This will contribute on the development one country. As a result electrical engineers
specialized by control, we advised them to do more project on DC motor. Beside this other DC
motor become more popular over the industries. So it is effective working project on DC motor.
Anyone who is interested on our project make makeable controlling system than prototype.

Factories who uses induction motor, we advise them to replace their motor with DC motor since,

36
DC motors have better overload and peak voltage characteristics, DC motors have higher
controller efficiency, DC motor can easily change the direction by changing of the polarity and
has typical 98% efficiency

37
Reference
[1] Wireless speed control of an induction motor using PWM technique with GSM (P. S Joshi,
Prof A. M. Jain)

[2] PWM direction transmission through RF for motor speed and direction controlling (Syed
Ahsan Ali, Umar Farooq and Muhammad Ihtesham)

[3] Building wireless sensor network (Robert Falidi)

[4] Herman, Stephen. Industrial motor. 6th ed. Delmar, Centgage Learning, 2010. Page 251

[5] Ohio electric motor DC series motor: high starting torque but No load operation I11 Advised.
Ohio electric motor 2011. Achieved 20, July 2011 at Website.

[6] DIRECTION AND SPEED CONTROL OF DC MOTOR Faculty of Electrical and Electronics
Engineering University Malaysia Pahang. May 2012

[7] MOSFET Based Speed Control of DC Motor with Wireless Technique

[8] www.wikipedia.com

[9] www.ni.com/dataacquisition

[10] www.sine.ni.com [11] www.forum.ni.com

[12] Design and FPGA implementation of PID controller by Sonali Gupta.

[13] Design and FPGA implementation of PID controller for dc motor control by Rajesh Garg
and Gaurav Kumar

[14] Pulse width modulation by Atmel.

[15] www.google.com

[16] www.scribed.com

[17] http://www.freepatentsonline.com/4617032.html

[18] http://www.datasheetcatalog.org/datasheet/texasinstruments/l293d.pdf

[19] http://www.datasheetcatalog.com/datasheets_pdf/7/8/0/5/7805.shtml

[20] Control systems engineering by Norman S Nise (California State Polytechnic University,
Pomona)
38
[21]Design and FPGA implementation of PID controller by Sonali Gupta.

[22] Design and FPGA implementation of PID controller for dc motor control by sity, Pomona)

39