MODELING AND ANALYSIS OF DC MOTOR DRIVE R.Chandrasekaran 1 , N.Sabarinathan 2 , A.Tamilselvan 3 , S.Gopinathan 4 , S.Parthipan 5 1 Assistant Professor, 2,3,4,5 Students, Dept of EEE, Karpagam College of Engineering, Coimbatore Abstract: The objective of this paper is to explore the design and analysis of the Proportional–Integral- Derivative (PID) controller for DC Motor drive using PIC microcontroller. The DC drive system performs the speed control for any desired speed within range. The design of closed loop speed control system is simulated in Matlab / Simulink and results were compared with The tuned PID controller for speed control system is tested for transient region, line changes, load changes, steady state region. for both static and dynamic specifications and dynamic performance of the system is validated Keywords: Automatic control, DC motor, PIC Microcontroller, MPLAB IDE Software, PIC kit3. 1. Introduction A DC motor is a machine which converts electrical energy into mechanical energy. Although ac motors are used in most of the cases, DC motors have many applications and used for multi-purpose applications. They consist of permanent magnets and loops of wire inside. When current is applied, the wire loops generate a magnetic field, which reacts against the outside field of the static magnets. The interaction of the fields produces the movement of the shaft/armature. The dc motor ratings are conditions of voltage, current, speed, and power at which the motor is normally operated. The principal rating is known as the continuous rating, which is the rating described on the nameplate of a motor. The continuous power rating is a thermal rating. At this power, the motor can be operated for long periods of time without a largerise in temperature and beyond the limits of the conductor insulating material, bearings and other components, which are greatly affected by temperature. The speed rating of a DC motor is often given on the nameplate. 2. Motor Control All motors have three wires coming out of them. Out of which two will be used for Supply (positive and negative) and one will be used for the signal that is to be sent from the MCU. Figure 1. Block Diagram of Speed control by DC motor using PIC microcontroller Dc motor is controlled by PWM (Pulse with Modulation) which is provided by the control wires. There is a minimum pulse, a maximum pulse and a repetition rate. Dc motor works on PWM (Pulse width modulation) principle means its angle of rotation is controlled by the duration of applied pulse to its Control PIN. High speed force of DC motor is converted into torque by Gears. We know that WORK= FORCE X DISTANCE in DC motor. This closed loop control for a DC motor to run at the exactly entered speed system works on the principle of PWM (Pulse Width Modulation) control. When this time is changed then International Journal of Pure and Applied Mathematics Volume 118 No. 20 2018, 1909-1913 ISSN: 1311-8080 (printed version); ISSN: 1314-3395 (on-line version) url: http://www.ijpam.eu Special Issue ijpam.eu 1909
Transcript
MODELING AND ANALYSIS OF DC MOTOR DRIVE
R.Chandrasekaran1, N.Sabarinathan
2, A.Tamilselvan
3, S.Gopinathan
4, S.Parthipan
5
1Assistant Professor,
2,3,4,5Students,
Dept of EEE, Karpagam College of Engineering, Coimbatore
Abstract: The objective of this paper is to explore
the design and analysis of the Proportional–Integral-
Derivative (PID) controller for DC Motor drive using
PIC microcontroller. The DC drive system performs the
speed control for any desired speed within range. The
design of closed loop speed control system is simulated
in Matlab / Simulink and results were compared with
The tuned PID controller for speed control system is
tested for transient region, line changes, load
changes, steady state region. for both static and
dynamic specifications and dynamic performance of the
system is validated
Keywords: Automatic control, DC motor, PIC
Microcontroller, MPLAB IDE Software, PIC kit3.
1. Introduction
A DC motor is a machine which converts electrical
energy into mechanical energy. Although ac motors are
used in most of the cases, DC motors have many
applications and used for multi-purpose applications.
They consist of permanent magnets and loops of wire
inside. When current is applied, the wire loops generate a
magnetic field, which reacts against the outside field of
the static magnets. The interaction of the fields produces
the movement of the shaft/armature.
The dc motor ratings are conditions of voltage,
current, speed, and power at which the motor is normally
operated. The principal rating is known as
the continuous rating, which is the rating described on
the nameplate of a motor. The continuous power
rating is a thermal rating. At this power, the motor can
be operated for long periods of time without a largerise in
temperature and beyond the limits of the conductor
insulating material, bearings and other components,
which are greatly affected by temperature. The speed
rating of a DC motor is often given on the nameplate.
2. Motor Control
All motors have three wires coming out of them. Out of
which two will be used for Supply (positive and
negative) and one will be used for the signal that is to be
sent from the MCU.
Figure 1. Block Diagram of Speed control by DC motor
using PIC microcontroller
Dc motor is controlled by PWM (Pulse with
Modulation) which is provided by the control wires.
There is a minimum pulse, a maximum pulse and a
repetition rate. Dc motor works on PWM (Pulse width
modulation) principle means its angle of rotation is
controlled by the duration of applied pulse to its Control
PIN. High speed force of DC motor is converted into
torque by Gears. We know that WORK= FORCE X
DISTANCE in DC motor. This closed loop control for a
DC motor to run at the exactly entered speed system
works on the principle of PWM (Pulse Width
Modulation) control. When this time is changed then
International Journal of Pure and Applied MathematicsVolume 118 No. 20 2018, 1909-1913ISSN: 1311-8080 (printed version); ISSN: 1314-3395 (on-line version)url: http://www.ijpam.euSpecial Issue ijpam.eu
1909
output voltages are changed and by changing this output
voltages DC motor speed is changed.
3. H-Bridge Converter
When the motor is directly connected to the o/p of the
above ICs then, they might damaged. To overcome this
problem, a motor control circuit is required, which can
act as a bridge between the above motors and ICs
(integrated circuits). There are various ways of making
H-bridge motor control circuit such as using transistor,
relays and using L293D/L298.
Figure 2. H-Bridge Circuit
The L298N H-bridge IC that can control the speed
and direction of two DC motors, or control one bipolar
stepper motor with ease.
The L298N H-bridge module can be used with
motors that have a voltage of between 5 and 35V DC.
With the module used in this tutorial, there is also an
onboard 5V regulator, so if your supply voltage is up to
12V you can also source 5V from the board.
A H bridge is an electronic circuit that allows a
voltage to be applied across a load in any direction. H-
bridge circuits are frequently used in robotics and many
other applications to allow DC motors to run forward &
backward. These motor control circuits are mostly used
in different converters like DC-DC, DC-AC, AC-AC
converters and many other types of power electronic
converters
Table 1. Operation of H-Bridge Board
S1 S2 S3 S4 Operation
1 0 0 1 Motor moves right
0 1 1 0 Motor moves left
0 0 0 0 Motor free runs
0 1 0 1 Motor brakes
1 0 1 0 Motor brakes
1 1 0 0 Short power supply
0 0 1 1 Short power supply
1 1 1 1 Short power supply
4. DC Motor Parameter
Table 1. DC motor Parameters
PARAMETERS RANGE
Nominal Voltage 12V
No load current 50mA
Nominal torque 5Kg-cm
Load current 300mA
Total Length 46mm 46mm
Motor Length 25mm
25mm
Motor Dia 36mm 36mm
Shaft diameter 6mm 6mm
Max. efficiency 79%
5. Hardware Implementation
Figure 3. H-BRIDGE Circuit Diagram
Figure 4. Hardware setup for DC Drive
International Journal of Pure and Applied Mathematics Special Issue
1910
6. Results
S.NO
Set
Speed
Actual
Speed
%
Error
1 250 274 9.60
2 600 584 -2.67
3 900 912 1.33
4 950 958 0.84
5 1100 1108 0.73
6 1200 1202 0.17
7 1300 1302 0.15
8 1400 1402 0.14
Table 2. Closed loop Performance
Figure 5. % Error Vs set Speed Speed
Fig.5 Shows the relation between % error Vs set
speed, it is clearly observed the performance of the drive
system well in high speed regions, for low speed regions
it gives moderate performance.
Figure 6. Set Speed Vs Actual Speed
Fig.6 shows the closed loop performance of the
drive system. The controller tracks the set speed and
system follow the command with minimum error
7. Conclusion
In this paper, a microcontroller based DC motor
control system designed to achive the requied speed for
various applications. TVoltage is varied by pulse width
modulation (PWM) of input DC voltage. To drive the DC
motor, a four channel monolithic integrated driver circuit
with diode clamps was used. PCB of the control circuit
was been designed and the whole system is implemented
on it. Test results are presented in tabular form and it
shows very good agreement with the expected output
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International Journal of Advanced Research Trends in
Engineering and Technology (IJARTET) Vol. 2, Issue
