boost+DC Motor

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2013 International Conference on Computer Communication and Informatics (ICCCI -2013), Jan.

09 – 11, 2013, Coimbatore, INDIA

Modern Speed Control of Separately Excited DC


Motor by Boost Converter Fed Field Control Method
G. Rajeshkanna
Department of Electrical and Electronics Engineering, Final Year (UG),
Sri Shakthi Institute of Engineering and Technology, L&T Bypass,
Coimbatore, India.
Email Id: [email protected]

Abstract— In this paper, an innovative technique of the speed choppers made a revolution in modern industrial equipment
control of the separately excited DC Motor by Boost converter and variable speed drives.
fed field control is being discussed. Purpose of a motor speed In the current trend, the DC motor speed control is achieved
controller is to take a signal representing the required speed and by armature control method and field control method.
to drive a motor at that speed. Controlling the PWM duty cycle is
Armature control method is only suitable for below the rated
equivalent to controlling the motor field winding terminal
voltage, which in turn adjusts directly the motor speed. By speed. Then the field control method is only suitable for above
adjusting the duty cycle of the IGBT then the output voltage is the rated speed. But in armature control method, there is more
varied. This voltage is above the rated voltage. If we can apply voltage drops by varying the resistance. By this, the overall
this voltage to the field winding, the flux production is more than efficiency of the system will be collapsed. By giving the above
the normal level. Due to this, automatically speed will be rated voltage to the field winding, there is more flux will be
decreased. By providing one variable series resistance in the created than the previous case.
output terminal of the chopper, then if it is varied means, the This over voltage will be providing by the step-up chopper
current flow through the field winding is limited. By this and automatically the speed will be going to down. By
condition, the flux production is less. Now the speed will be going
providing one series resistance in the output terminal of the
to increases. In this method, the field winding should be designed
for above the rated voltage. This work is a feasible one and high chopper, we can able to get the below the rated voltage also. If
feasibility according to economic point of view and accuracy. In this reduced voltage is fed to the field winding. The flux
this work, developmental design of hardware of a closed loop dc production in the field winding is less. Then the speed will be
motor speed control system by field control with PI speed going to increases. Because of the flux is inversely
controller have been explained and illustrated. proportional to the speed.
But in this method, the voltage of the field winding is
Keywords- DC motor, Speed control, Microcontroller, Power IGBT, exceeding the rated voltage. If we cannot consider this, then
PWM. the field winding will be damaged. We want to design a new
field winding for this control. The overall with stand capacity
I. INTRODUCTION
of the field winding is increased in this control. By this design,
In many industrial applications, such as Battery operated the field winding is works under the normal rated voltage and
vehicles, trolley buses, cars, traction, motor control it’s the above rated voltage.
required to covert fixed DC voltage into a variable DC This maximum voltage will be decided by the output of the
voltage[1,3]. Speed control of dc motor could be achieved chopper. By this type of modern controlling, we can able to
using mechanical or electrical techniques. In the past, speed achieve more efficiency than the armature control. But the
controls of dc drives are mostly mechanical and requiring overall dimension of the motor is just increased because of the
large size hardware to implement [2,3]. redesigning of the field winding. The simulations are
The electric drive systems used in many industrial performed by using MATLAB Software.
applications require higher performance, reliability, variable
speed due to its ease of controllability. The speed control of II. PROPOSED CIRCUIT DIAGRAM
DC motor is very crucial in applications where precision and
protection are of essence [3].The development has launched
these drives back to a position of formidable relevance, which
were hitherto predicted to give way to ac drives.
Some important applications are: rolling mills, paper mills
mine winders, hoists, machine tools, traction, printing presses,
textile mills, excavators and cranes. Fractional horsepower dc
drives are widely employed -as servo means for positioning
and tracking [4]. Controlled rectifiers provide a variable dc
voltage from a fixed dc voltage. Due to their ability to supply Figure 1. Circuit diagram of the proposed method
a continuously variable dc voltage, controlled rectifier and dc

978-1-4673-2907-1/13/$31.00 ©2013 IEEE


2013 International Conference on Computer Communication and Informatics (ICCCI -2013), Jan. 09 – 11, 2013, Coimbatore, INDIA

III. WORKING PRINCIPLE the back EMF will create very smoothly. Then the starting
The circuit of the proposed method is shown in figure 1. In current will be reduced. After reducing the resistance by
this figure, the armature is connected across with the supply handle, the full rated voltage is applied to the armature and
source and the field is connected across with the output of the field winding. Then the handle is attracted by the No Volt
boost converter. The proposed method contains two different Coil. Then we have to set the rated speed by varying the V.R.
types of modes. They are, potentio meter as shown the figure 2. After this we can able to
control the speed by mode-1 and mode-2 operation. These are
A. Mode – 1: Low Speed Operation already mentioned in the working principle. This is the
starting procedure for this proposed method.
The practical boost converter gives the output voltage from
220Volts to 475Volts. By varying the Duty cycle, the variable
voltage is applied in the Field winding terminal. This variable
voltage is greater the rated field voltage.
In this case, the flux creation from the field winding is
greater than the rated flux. We know the speed is inversely
proportional to the flux. By this principle, automatically the
speed will be going to down as below the rated speed. This
speed is determined by the applied field voltage. In this
condition, the position of variable resistance V.R. is should be
zero or very minimum position. Because of there is no current
limit. That is why the V.R. is should be in minimum position.

B. Mode – 2: High speed operation


When the duty cycle is zero, the output voltage of the boost
converter is full input voltage. Because,
V
V
1 D Figure 2. Circuit diagram of the starting of the motor using four point starter
Here
Vout is output voltage, V. PERFORMANCE ANALYSIS OF THE PROPOSED
Vin is input voltage, METHOD
D is the value of Duty cycle. The DC motors are in general much more adaptable speed
When we are adding some resistance in a circuit, there is drives than AC motors which are associated with a constant
some voltage drop. Then the total output voltage will be speed rotating field. Indeed one of the primary reasons for the
controlled. This is achieved by the potentio meter V.R., is strong competitive position of DC motors in modern industrial
shown in the figure 1. In this circuit the controlled voltage is drives is wide range of speeds afforded. The speed of the DC
applied to the field winding. So, current will be limited. Shunt motor is given below [5].
By this, the production of flux from the field winding is less K E K V I R
than the rated flux. In this case, the speed is going to high as N
above the rated speed. In this mode, we cannot change the φ φ
Since the armature drop is small, it can be neglected. So,
value of the duty cycle. But instead of we can change the
K V
resistance value of V.R. for high speed controlling. N
By the two modes, we can control the speed of the DC φ
Motor as above the rated speed and also below the rated speed From the above equation, the production of flux is greater
by field control method only. than the rated flux means; the speed will be lower than the
rated speed. Then the production of flux is lower than the
IV. STARTING PROCEDURE FOR THIS METHOD rated flux means, the speed will be higher than the rated speed.
USING FOUR POINT STARTER We know, the torque equation of the DC Shunt motor is,
E I
A. Working T Nm
ω
The starting must be creating an IR drop. The relation This is nothing but a statement of energy conservation, i.e.
between motor terminal voltage, supply voltage and this IR electrical and mechanical powers must balance in a machine.
drop is, So, if we cannot change the armature voltage during the lower
V V IR speed operation, then the torque will not change during this
So, the motor terminal voltage Vtis, time. This is proved by the above equation. Because of the
V V IR … 1 torque is directly proportional to the armature voltage. Then
From the equation (1) the motor terminal voltage is very the armature winding can able to maintain the stability during
less during the starting time. Full resistances are connected the both lower speed and higher speed operation by field
series with the supply voltage. In reduced voltage condition, control alone.
2013 International Conference on Computer Communication and Informatics (ICCCI -2013), Jan. 09 – 11, 2013, Coimbatore, INDIA

VI. ADVANTAGES OF THE PROPOSED METHOD This can be written as:


V 1
• Armature cannot lose that stability during the low … 2
speed operation. V 1 D
• Torque and performance are maintained as good rate.
From the equation (2) it can be seen that the output
• Losses are very less during the low speed operation.
voltage is always higher than the input voltage (as the duty
• Efficiency is higher than the traditional armature cycle goes from 0 to 1), and that it increases with D,
control method. theoretically to infinity as D approaches 1 [6,7].
• Easy implementation.
• Maintenance cost is very less.

VII. MODELING OF BOOST CONVERTER


The boost converter of Figure.3 with a switching period of
T and a duty cycle of D is given. Again, assuming continuous
conduction mode of operation, during the On-state, the switch
S is closed, which makes the input voltage (V ) appear across
the inductor, which causes a change in current(IL ) flowing
through the inductor during a time period (t) by the formula:
ΔIL V
Δt L
At the end of the On-state, the increase of IL is therefore:
Figure 4. MATLAB modelling of boost converter
1 DT DT
ΔIL V dt V
L L
During the Off-state, the switch S is open, so the inductor
current flows through the load. If we consider zero voltage
drops in the diode, and a capacitor large enough for its voltage
to remain constant, the evolution of IL is:
dIL
V V L
dt
Therefore, the variation of IL during the Off-period is:
D T
V V dt V V 1 D T
ΔIL
L L

Figure 5. Model output of boost converter circuit

VIII. MODELING OF SEPARATELY EXCITED DC


MOTOR

Figure 3. Circuit diagram of the boost converter


As we consider that the converter operates in steady-state
conditions, the amount of energy stored in each of its
components has to be the same at the beginning and at the
end of a commutation cycle. In particular, the energy stored
in the inductor is given by:
1 Figure 6. Separately excited DC motor model
E LI ² The armature equation is shown in equation (3):
2 L dI
Therefore, the inductor current has to be the same at V E I .R L … 3
the beginning and the end of the commutation cycle. This dt
can be written as The description for the notations used is given below:
ΔIL ΔIL 0 1. Va is the armature voltage in volts.
Substituting ΔIL and ΔIL by their expression yields: 2. Eg is the motor back emf in volts.
DT V V 1 D T 3. Ia is the armature current in amperes.
ΔIL ΔIL V 0 4. Ra is the armature resistance in ohms.
L L 5. La is the armature inductance in Henry.
2013 International Conference on Computer Communication and Informatics (ICCCI -2013), Jan. 09 – 11, 2013, Coimbatore, INDIA

Now the torque equation is shown in equation (4): ω S


Jdω Φ
… 10
T Bω TL … 4 V S ST 1 ST 1
dt Let us assume that during starting of motor, load torque TL=0
Where:
TL is load torque in Nm. and applying full voltage Va. Also assuming negligible
Td is the torque developed in Nm. armature inductance, the basic armature equation (3) can be
J is moment of inertia in kg/m². written as:
B is friction coefficient of the motor. V KΦω t I R … 11
ω is angular velocity in rad/sec. At the same time Torque equation will be:
Assuming absence (negligible) of friction in rotor of motor, it dω
T J KΦI
will yield: B=0 dt
Therefore, new torque equation is shown in equation (5): Putting the value of Ia in equation (11):
Jdω Jdω Ra
T TL … 5 V KΦω t . … 12
dt dt KΦ
Taking field flux as Φ and (Back EMF Constant) Kv as K. Dividing on both sides by KΦ in equation (12),
ω
Equation for back emf of motor is shown in equation (6): V
E KΦω … 6 ω t JR
KΦ KΦ
Also,T KΦI
From motor’s basic armature equation (3), after taking Va/KΦ is the value of motor speed under no load condition.
Laplace Transform on both sides, we will getI S equation Therefore,
which is shown in equation (7): ω
V –E dω
ω no load ω t JR ω t T
I S … 7 KΦ dt
R L S
Now, taking equation (6) into consideration, we have: Where, KΦ = Km(say)
V – KΦω And,
I S
R 1
L S JR JR
R T
KΦ K
And,
Therefore,
T TL KΦI TL
ω S K
T
JS JS J … 13
Also, The armature time constant will be given by: R
From motor torque equation, we have:
(Armature Time Constant) Ta = La/Ra
I S TL
ω S K … 14
JS JS
From equation (13) and (14), we have:
R R 1
ω S I S TL
K K T S
Now, Replacing KΦ by Km in equation (8), we will get the
final equation which is shown in equation (15):
ω S K
Figure 7.Block model of separately excited DC motor … 15
V S 1 ST S TT
After simplifying the above motor model, the overall transfer
Since, the armature time constant Ta is much less than the
function is shown in equation (8):
KΦ electromechanical time constant Tm, (Ta << Tm)
R Simplifying,
ω S JS T S 1 ST S²T T 1 S T T S TT
… 8
V S K Φ
1 ST 1 ST
R
1 The largest time constant will play main role in delaying the
JS T S
system when the transfer function is in time constant form. To
Further simplifying the equation (9) will yield: compensate that delay due to largest time constant we can use
ω S Φ PI controller as speed controller. It is because the zero of the
… 9 PI controller can be chosen in such a way that this large
V S Φ

1
R delay can be cancelled. In Control system term a time
JS T S
delay generally corresponds to a lag and zero means a lead,
Assuming, Tm=JRa/(kΦ)² as electromechanical time so the PI controller will try to compensate the whole system
constant.Then the equation (9) can be written as below: [8].Hence, the equation can be written as:
2013 International Conference on Computer Communication and Informatics (ICCCI -2013), Jan. 09 – 11, 2013, Coimbatore, INDIA

• Full load current = 15.54A


ω S K
… 16 • Number of poles = 4
V S 1 ST 1 ST
• Full load efficiency = 0.85
Tm and Ta are the time constants of the above system
• Rated speed = 1500rpm
transfer function which will determine the response of the
system. Hence the dc motor can be replaced by the transfer • Maximum air gap flux density (Bg) = 0.9Wb/m²
function obtained in the equation (16) in the DC drive model • Specific electrical loading = 30000 ampere
shown earlier. conductors/meter
• Field form factor (Kf) = 1.52
IX. SPEED CONTROL OF THE MOTOR WITH PI
SPEED CONTROLLER Here,
The average air gap flux density,
B K B 1.52 0.9 1.368Wb/m
The output co-efficient,
C π 1.368 30000 10 405.05
The speed in rotate per second is,
1500
n 25 r. p. s
60
P 3.73 10
D L 0.368 m
C n 405.05 25
For a square pole face,
L
1
ψτ
πD
L 1.52 1.193D
4
Taking ψ=Kf
Figure 8. PI speed controller system 1.193D 0.368
D 0.308m & 0.367
X. DESIGN OF PI SPEED CONTROLLER
B. Calcuation of airgap length
A. Speed controller design
Usually the value of air gap length lies between 0.01 to
0.015 of pole pitch [9].
π diameter π 0.308
Pole pitch 0.242 m
number of poles 4
Therefore the length of the air gap is,
L 0.015 0.242 3.63 10 3.63 mm

C. Design of field winding


Figure 9. Block model of PI speed controller • Maximum field voltage: 440V (the maximum practical
Now, converting the block model in transfer function, we output voltage of boost converter)
will get: • Field resistance = 240ohms
ω s K R 1 TS 1 TS • MMF per pole (ATf) = 7000A
ω s ref. TT K S 1 TS K K 1 TS R • Depth of winding (df) = 20mm
The damping constant is zero in above transfer function • Length of the inner turn (Li) = 0.36m (with respect to
because of absence of S term, which results in oscillatory and length of the armature coil)
unstable system. To optimize this we must get transfer • Length of the outer turn (Lo) = 0.46m
function whose gain is close to unity [8]. So the equation (17) • Loss radiated from outer surface excluding ends = 100
is followed by, W/m²
ω s K R • Space factor (Sf) =0.62
… 17 • Resistivity (ρ) = 0.02 ohm/m
ω s ref. 1 K K R
• Voltage across the each field winding Ef= 440/4 = 110 V
XI. SPECIFICATIONS OF A MODEL MOTOR
Length of the mean turn is,
A. Design of armature winding: L L 0.36 0.46
• Rating of the motor = 5HP L 0.41m
2 2
• Rated voltage of the motor = 240V
2013 International Conference on Computer Communication and Informatics (ICCCI -2013), Jan. 09 – 11, 2013, Coimbatore, INDIA

Area of field conductor is, The speed vs. field voltage graphs were drawn by using
AT ρL 7000 0.02 0.41 MATLAB Block M-File. These graphs are shown in figure
a 0.522 m² 12,13.
E 110
Resistance of each coil is, Low Speed Operation
T ρL 1400
R … 18
a
Here, we know the field resistance and find out the total 1200
number of field turns from the equation (18),
Ra 240 0.522
T 15278 1000
ρL 0.02 0.41
Hence, height of the coil is,

Speed [RPM]
T a F 10 15278 0.522 10 800
h 0.398m
d 20 10
Area of outer surface excluding ends is,
600
a L h 0.36 0.398 0.1433 m²
This is the over all design specifications of the armature,
field and airgap for a proposed DC motor[9]. 400

XII. MODELING OF PROPOSED METHOD WITH PI


SPEED CONTROLLER 200

0
0 500 1000 1500 2000 2500
Field Voltage [V]
Figure 12. Graph for the low speed rpm (vs) field voltage
High Speed Operation
5000

4500

4000

3500
Speed [RPM]

3000

Figure 10. Modeling of the proposed method with PI speed controller 2500

2000

1500

1000
0 50 100 150 200 250
Field Voltage [V]
Figure 13. Graph for the high speed rpm (vs) field voltage
These graphs were drawn by using the equations
(19,20,21,22).
V
V &V V D … 19
1 D
Where,
Vf - Field voltage.
Figure 11. Output waveform for the proposed method with PI speed Vdc – Input voltage.
controller closed loop system D – Value of duty cycle.
2013 International Conference on Computer Communication and Informatics (ICCCI -2013), Jan. 09 – 11, 2013, Coimbatore, INDIA

V Gorakhpur, U.P., India, (International Journal of Advances in


I … 20 Engineering & Technology, May 2012, ISSN: 2231-1963, Vol. 3, Issue
R 2, page no. 559-567).
Where, [9] Sawhney, A.K. : A Course in Electrical Machine Design, Dhanpat Rai
Rf is Field resistance. &Sons, New Delhi, 1984 – page no. 9.28 (9.17.1 – Estimation of Air
TR R Gap Length).
V Auther’s Information
KI
ω … 21
KI
G. RAJESHKANNA – Native of the author is
where, Chinnamalaikundru (PO), Ettayapuram (TK),
Kf is the Field constant, TR is the Rated Torque and Tuticorin (DT), Tamilnadu (ST), India and Data
Ra is the armature resistance. of Birth is 13/04/1991. He is a final year UG
30 student at Department of Electrical and
N ω … 22 Electronics Engineering, Sri Shakthi Institute of
pi Engineering and Technology, Coimbatore,
When the value of duty cycle will change, then the value of Tamilnadu, India.
field voltage will be varied. By equation (20), the field current His current research interest includes power
generation using Renewable Energy system
will also vary. If this field current is applied in the equation particularly Solar Energy and Wind Energy
(21), then the value of ω will be also varied. This is rad/sec Systems&Power Electronics and Electric Drives.
only. The RPM speed is achieved from equation (22).

XIII. CONCLUSION
The speed of a dc motor has been successfully controlled by
using Chopper as a converter and Proportional-Integral type
Speed controller based on closed loop system model. Initially
a simplified closed loop model for speed control of DC
motor is considered. Then a generalized modeling of dc
motor is done. After that a complete layout of DC drive
system is obtained. Then designing of speed controller is done.
The speed controller parameters are calculated by manually
and the obtained values are inserted in the blocks from the
MATLAB design model. DC motor specification is taken and
corresponding parameters are found out from derived design
approach. Ultimately simulation is done for model with and
without filter used after reference speed and a comparative
study is done on response of both cases. The simulation results
under varying reference speed and varying load are also
studied and analyzed. The model shows good results under
all conditions employed during simulation.

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[1] Power Electronics by Dr.Bimbhra.P.S., Khanna Publishers, New Delhi,
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[2] Fundamentals of Electrical Drives by Dubey.G.K., New Delhi, Narosa
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[3] “Microcontroller based closed-loop automatic speed control of DC
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of Electrical Engineering and Computer Science, North South University
Dhaka, Bangladesh.
[4] “Implementation of High Power Dc-Dc Converter and Speed Control of
Dc Motor Using DSP” by P.M.Balasubramaniam, Kalaignar
Karunanidhi Institute of Technology, Coimbatore,Tamilnadu,India,
“Computer Engineering and Intelligent Systems, ISSN 2222-1719
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[5] Kothari. D P and I J Nagrath, Electric Machines, 3rd edn, Tata
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[6] Power Electronics – Circuits, Devices and Applications by Rashid, H.
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[7] “Zero Voltage Switching technique in DC/DC Converters” by Liu,
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Controlled Bridge Rectifier With Inner Current Loop” by Raju Singh &
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