CHAPTER 1

INTRODUCTION
Servomotors are kind of rotary actuators that can have a precise control of velocity,
acceleration and angular position. It comprises of a suitable motor and a sensor who both
coupled to sense the position feedback. In most of the cases sophisticated controller is
also used which is a dedicated module specifically designed for servo motors.
Servomotors term is mostly used for a motor dedicated for usage in closed loop system as
they dont fall in specific class of motors. Servomotors applications include
process/industrial control, robots, CNC etc.
Servomotors are a close loop servomechanism which utilizes position feedback to control
the motion and final position. It has an input of analogue or a digital signal according to
which the commanding output is given to motor shaft.
A type of Encoder is paired with the motor which give speed and position feedback.
Position is measured in the simplest case. Measured position of the external input is
compared to the controller, and output to the command position. If the position of the
output is different from the required, error signal is produced inducing motor to rotate in
either direction, which is required for appropriate positioning of the output shaft. The
error signal approaches to zero as the position approach to required and motor finally
stops [1].
The simplest of the servomotors use only position sensing through bang-bang control and
potentiometer of their motor; the motor rotation is always at full speed or stopped.
Servomotors of such type are are the basis of cheap and simple servos used in radiocontrolled models.
Servomotors of sophisticated kind measure both the speed and the position of the output
shaft. Not only this they can also control the motor speed, instead of always being at full
speed. Both of these improvements, usually along with a PID controlalgorithm, bring the
servomotor to its commanded position precisely and more quickly, with less overshooting
[1].
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1.1 STEPPER MOTORS VS SERVOMOTORS

Stepper continuously consumes power to reach the commanded position and then to hold
that position. Whereas, a servomotor consumes power for reaching the commanded
position but after it they rests.
Servomotors are regarded as high performance substitute of stepper motor. The stepper
motor has built-in output steps, which makes it intrinsic ability to control position.
Therefore, they are often used as an open-loop control without having a feedback
encoder, because the drive signals given to it defines the number of steps for movement
to rotate, but this requires the stepper motor on power up to make the controller know
the position. Hence, the stepper motor will be activated by the controller, on first power
up, the end limit switch is activated.

When the inkjet printer is switch on, it can be

observed that the controller will move ink jet carrier to extreme left and right for
establishing the end positions. Now in case of servomotor, it will immediately turn to the
angle instructed by the controller, irrespective of the initial position at power up.
Performance of stepper motor is limited due absence of feedback feature, which make it
to only drive the load which is well within its capacity, otherwise under load missed steps
may generate positioning errors which may lead to system restart or recalibration [2].
The controller and encoder makes servomotor costly, but it is compensated by the all of
power, accuracy and speed) in relation to the capacity of the basic motor. Servomotors
have the advantage in larger systems, where a powerful motor shares an increasing
proportion cost of the system.
In recent years, increasing popularity has been observed in used of closed loop stepper
motors. They are similar to servomotor but have a difference in achieving the smooth
motion through software control. Magnetic encoders as the feedback device have been
employed by the top 3 manufactures of the closed loop system due to resistance to
vibration and low cost. The closed loop stepper motor has the cost to performance ratio
benefit. Also PID controller is not needed to be tune on a closed loop stepper system
which saves time [1].

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Laser cutting machines can be offered in two ranges, the high-performance range using
servomotors and low-priced range using stepper motors, along with many other
applications.
1.2 ENCODERS
Encoders were made along with the first servomotors. During World War II, intensive
work was done on these systems in development of anti-aircraft artillery and radar.
Resistive potentiometers are used as position encoder in simple servomotors. They have a
close competition with stepper motors and are mostly used at the cheapest and simplest
level. During potentiometer track they have electrical noise and wear. Although the speed
signal can be generated by electrically differentiating the position signal, PID controllers
are a more precise encoder which utilizes the same speed signal [3].
Rotary encoders, either incremental or absolute are used in current servomotors. At
power on, absolute encoder can determine their position but these are expensive and
complicated. However incremental encoders are cheap, work at faster speeds and simple
in use. Stepped motors which is an incremental system, mostly combine simple zero
sensor with their inherent ability of measuring rotation intervals to set position at start-up.
In some cases a motor with a separate and external linear encoder is used instead of
servomotors. Though these linear encoder systems with the addition of motors avoid
erroneousness in the drive train between linear carriage and motor [3], their design is
complicated as they are not a factory-made compact system.
1.3 MOTORS
Permanent magnet DC motors with brushes are the simplest to be used as they are simple
and cheap. Servomotors used in small industry are typically electronically commutated
motors without brushes. AC induction motors are used in large industrial servomotors,
often allowing control of their speed with the help of variable frequency drives. Brushless
AC motors having permanent magnetic field are used as a compact package for ultimate
performance and large versions having DC motors [1].

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Standard industrial component is a drive module for servomotors. These modules are
designed on the basis of three-phase MOSFET H Bridge. Their input is pulse count
(rotation distance) and single direction. They may also have over torque, over
temperature and stall detection features. As the Overall System dynamics and gear head
ratio depends on the application, which makes the encoder type are mostly implemented
as part of the main controller.
1.4 DC MOTOR AND ITSTYPES
Motor is a device which converts electrical energy into mechanical energy. Motor can be
divided into two categories:
1. Alternating current (AC) motor
2. Direct current (DC) motor
In a simple DC motor torque for rotation is produce by the interaction between the
electricity and magnetic field. Permanent magnet DC motor is better than AC motor
because it provide better control on speed with high torque and is used widely in industry
[5].
DC motors can be used with portable sources like batteries and solar cells which makes
them more usable and provide cost effective solution because AC power supply is not
available everywhere. DC motor shows response at both current and voltage. Current in
the armature winding gives the torque while the voltage shows the speed of the motor [4].
The load and current has a proportional relation if the load is increased the drawing
current from supply will increase to maintain the speed constant and if supply does not
provide the enough current the speed will reduce. In other words applied voltage effect
speed and torque is controlled by current. If the chopping circuit is used the results drawn
from DC motor become more effective [3]. In lifting and transportation we mostly use
low power DC motors as low power AC motors torque capability is not as good.
DC motor are used in the application where torque cannot be compromised like electric
cars, railway engines, car windows, robotic applications, elevators, complex industrial
mixing process and wide variety of small appliances. There are several types of DC
motor but most common are brushless DC motor, servo motor, stepper motor, and
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brushed DC motor [2]. DC motors have three winding techniques such as series DC
motor, shunt DC motor and compound DC motor.

Fig 1.1 Parts DC motor

1.4.1 Brushless Dc Motor
It is a DC current synchronous electric motor with electronic communication system.
This motor does not have brushes or commentator like mechanical parts. There is a linear
relationship between current to torque and voltage to rpm. In this type there is no
permanent magnet on stator while motor have a rotating permanent magnet [3].
Controller converts the DC current given to motor into AC current. Such kind of design is
useful in removing difficulties like transferring power to rotor. It advantages include little
maintenance, long life and high efficiency while more complicated controller and high
capital cost are its disadvantages. AC motor and brushless motor are very similar to each
other and both required an external communication for generating torque.
These are fuehrer divided into two subtype motors,
1. Reluctance motor
2. Stepper motor
Reluctance motors are kind of motors which do not have a permanent magnet and its pole
are pulled for alignment by moving stator drive [4].Whereas stepper motors are normally
run by controllers and have many poles on stator. They are used mostly in highly precise
CNC machines.
1.4.2. Brushed Dc Motor
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These types of DC motors have a permanent magnet and its rotor has an electrical magnet
that moves and generates torque in proportion to applied DC power. Lorentz force
principle is used in this motor, the principle says that a current carrying conductor placed
in a magnetic field environment then it experiences a torque or force. It advantages
include low initial cost, simple speed control technique and high reliability.
Disadvantages include high maintenance cost of small life time. The replacement and
cleaning of commentator, brushes and springs are included in its maintenance [6].
Brushed DC motor use three type of wound techniques which are given below:
1.4.3. Shunt Wound
In this type of motor shunt filed coils are in parallel with armature [5]. So the current is
moving independently in armature and field coils as shown in figure 1.2. Such motors are
where high power and excellent speed control is required.

Fig 1.2 Shunt wound DC motor

1.4.4. Series Wound
In this type of motor shunt filed coils are in series with armature which makes current
dependent on one another as shown in figure 1.3. These motor provides high torque [2].
The current increases in the armature and stator as load increases which makes its
application in high loads. But it has a draw-back of not giving excellent speed control.

Fig 1.3 Series wound DC motor

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1.4.5. Compound Wound

It is combination of a series wound and shunt wound motors as shown in Fig 1.4. This
motor provides both high torques as well excellent speed control as compared to serieswound and shunt wound [5].

Fig 1.4 Compound-wound DC motor

1.4.6 Salient Features Of Brushless Dc Motor
In such a kind of motor the stator is the part of the motor where heat is produced and
removal of heat is quite easier. These kinds of motors are very smart and lighter in the
weight as they have a coil made up of permanent magnets [7]. The most imperative
characteristic of Brushless DC electric motors is that they got a very much smoother
relationship between the current and linear torque. BLDC motors are quite smart and
clean, are quite fast and even they have an edge on other kinds of motors when it comes
to efficiency.

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Fig 1.5 A Schematic view of Brushless DC motor

BLDC motors have quite a different kind of structure as shown in Fig 1.5. In these
motors the stator is moveable while the rotor is stationary. The stationary rotor is made up
of permanent magnet. The moveable stator and stationary rotor results in very low
maintenance requirement and making the BLDC motors to evolve as a very economical.
The most interesting characteristic of the BLDC motors is that these motors do not work
on the DC power as they got windings on its moveable stator and permanent magnets as
rotor and are electronically commutated.
1.5 DC MOTION
Electromagnetism is the responsible for the rotational motion of the motors spindle.
When a coil carrying current is allowed in the vicinity of the magnetic field, a torque is
produced [8]. Torque thus produced is directly proportional to the current applied to the
conductor. The generated torque is reason of the rotational motion of the spindle of the
motor. inthe mathematical formula for the calculation of the Magnetic force is as follows.
F=B L I
Where;
B= Magnetic field
L = Length
I= current

Fig 1.6 DC motor

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The magnetic force F is perpendicular to both the current (I) and magnetic field intensity
(B). Applying right hand rule the direction of the force acting can be found out as shown
in figure1.7. Forces are thus equal in magnitude but clearly opposite in direction,
therefore, producing a torque [5].
After every half revolution, the current is needed to be reversed for making the produced
torque to be in the same direction. To accomplish this commentator is engaged. Torque is
actually directly proportional to the magnetic field (B) [6].The motor is actually a device
designed to generate the rotational motion resulting from the magnetic field and coil
magnetic interaction.

Fig 1.7 DC motor

Within the following case the current flows out of the coil and direction of the magnetic
field is north-south, consequently, the resultant force will tend to move the armature to
left. Rotational motion is finally obtained and this continues due a number of poles of a
motor. Applied current is responsible for the torque produced while the speed is depended
upon the voltage supplied [7].
1.6 MOTOR AND ITS CONTROLLING (SPEED CONTROLLERS)
Motors have got a variety of applications, so controlling the speed of motor is of very
much implication. There are a number of different applications where we need high speed
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and some where we need lower speeds. Each certain application needs the speed of motor
with certain specific range. Consequently, making speed control of motor a very vital
feature [8]. For example robotics is field where we see immense use of motors but robots
cannot perform the way we want them to, when speed of motors is not controlled in a
very precise and exact way. In CNC machining centre, where error as small as 1mm
cannot be compromised. For such an applications the speed control of motors should be
exact and accurate. Closed loop speed controllers are normally employed for controlling
the speed of motors.
Voltage supplied is responsible for speed of the dc motor. Voltage is decreased, the speed
is reduced and when the voltage is allowed to increase the speed of the motor rises. In
case of the constant voltage supplies or batteries this speed control is achieved by making
use of the speed controllers. The speed controllers function by allowing variable voltage
to the motors and thus controlling their speeds [7]. The speed controllers have very quick
response and they can switch the voltage supply ON-OFF very fast therefore making an
average voltage supplied to motor as mandatory. This process is known to be pulse width
modulation. There are many forms of the speed controllers are available now-a-days and
each having their own pros and cons. Speed controllers used in this project are as follows
a) Pole placement controller.
b) PID controller.
c) Fuzzy logic controllers22
This is a simple electrical motor which is controlled by servomechanism. The DC motor
controlled with servomechanism called as DC Servo Motor. In other side if the motor is
controlled by AC, so it likely to be called as AC Servo Motor [8].
There are some motors have special type of application. Application is that to rotate
motor for certain angle and not for long continuous period. For the purpose of this
application some special motors are required with special arrangement. Hence, for given
electrical input electrical signal it rotates at certain angle. Because of that there is an
existence of servo motor. Servomotor is a simple DC Motor which is normally controlled
by special angular rotation with the help of servomechanism. It is type of closed loop
control system feedback. In recent time servo system has a wide scope in industries [9]. It
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has scope in industrial application. Controlling of Linear motion of remote controlled car
is an example in day to day life. CD or DVD player tray is also a good example of it.
Beside of these applications there are so many applications we could observe in our day
to day life. Servo provides angular precision; it could be control by us. We could rotate it
as much as we want and then put on hold for next signal. This is the reason behind using
servo. This is like a normal electrical motor [9]. When we supply electric power to it, it
starts rotating until the power off. Rotational motion of motor cannot be control except
the speed of rotation and ON/OFF of the power supply.

1.7 SERVO MOTOR

Figure 1.8:- Servo Motor

We need to understand the servomechanism first in order to have working principle of
Servo Motor.
1.7.1 Servo Mechanism
There are three basic component part of servomechanism system- output sensor,
controlled device, feedback system. The system is an example of automatic close loop
control system. The feedback signal, which is generated by comparing reference input
signal and output signal is used to control the system rather than by applying variable
input signal. The command signal (reference input signal) is applied to the system
compared with output reference signal and third signal. The out reference signal is
produced by output sensor and third signal which further act as input signal of the
controlled device is produced by feedback system [10].Because of logical difference
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between reference input signal and output signal, input signal to device stays long. After
getting desired output logical difference get vanishes and hence third signal no longer
remain until the next command signal is applied to system. In presence of disturbances to
maintain output of system at desired value is only the primary task of servomechanism.
1.7.2 Servo Motor Working Principle
Generally a servo motor is DC motor; but in some cases AC also. Some special purpose
component used in motor make DC motor a servo. In servo unit youll find
potentiometer, intelligent circuitry, gear arrangement and small DC motor [5]. The
intelligent circuitry used in servo system along with potentiometer could make servo
motor to rotate as we want. The high speed small DC motor generate torque is not
capable to move light weight load. By this gear system which is inside the servo comes
into existence. The gear mechanism allow high input speed and at output get slower
speed; but widely applicable and more practical.
At servo motor shafts initial position, knob position of potentiometer is like that no
electrical signal is generated at output of it. And output terminal of potentiometer is
connected to one input terminal of error detector amplifier. At another input terminal of
error detector amplifier electrical signal is given. Error detector amplifier amplifies
difference signal to feed DC motor [6].
Here difference signal is the difference between two signals one comes from
potentiometer and other one comes from external source. The signal amplified by error
detector amplifier is itself an input power for motor, because of that motor starts rotating
at desired linear ion. With the help of gear arrangement knob, potentiometer is coupled
with shaft of motor. Potentiometer knob rotates with progress of motor shaft [7]. Change
in position of potentiometer knob produce electrical signal at its port, resulting increase in
feedback signal. The electrical signal generated in potentiometer is same as external
electrical signal given to amplifier, when potentiometer knob reaches to desired position.
At this point the difference between both signals is nil, as both the signals are same.

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Because of that amplifier is unable produce output signal for motor input. Hence, motor
stops rotating. This is how a simple working principle of servo motor.
1.7.3 Servo Motor Control
For better understanding of servo motor control, let take an example. Let a servomotor
feed with signal to rotate by angle of 45 and after that wait for further instruction. With
the help of gear assembly DC motor shaft is coupled with another output shaft [8]. The
general purpose of gear assembly is to step down high rpm to low rpm motor shaft of
servo system at output.

Figure 1.9:- Gear Assembly for DC Servo Motor

The potentiometer voltage adjusting knob is arranged with output shaft in such manner
that when shaft rotates, knob also rotates. This rotating knob creates a varying electrical
potential, which is according to principle of potentiometer. The electrical potential i.e.
signal increase with angular movement of knob with shaft from 0 to 45 [9]. Further this
particular electrical potential feed to error detector feedback amplifier along input single
voltage.

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Figure 1.10:- Position Cog for Gear of DC Servo Motor

The voltage from potentiometer increases with angle of rotation of shaft i.e. from 0 to
45. When a shaft is reach to 45, voltage value at output is equal to given input [6].
Hence, at this point there is no difference between reference input voltage and signal
voltage coming from potentiometer. And output of amplifier becomes zero.

Figure 1.11:- Feedback System for Find the Error

As in the above figure output voltage signal of amplifier is acting as input signal for DC
motor. So, motor is used to stop rotating after every 45 shaft rotation. At this particular
position the motor is in rest and waiting for next instruction to move in desired linear ion.
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The example above helps us to understand servo motor theory and servo motor control
[7]. Though in practical servo motor, we use analog or digital position sensor encoder.
Shaft of servo is connected to potentiometer. Potentiometer connected circuitry inside
servo generally known as position of servo. Error detector amplifier is used to compare
current position and desired position [8]. If some mismatch is observed, then error
detection amplifier provide some error signal by which shaft will rotate to get desired
location. Once shaft get to the location it stops and wait for next instruction.
1.7.4 Continuous Rotation Servo Motor
Continuous rotation Servo Motor is the modified version of servo. Its a 360 rotation
servo, which developed by changing internal mechanical connection of servo [9]. You
could only control linear ion and speed of respected servo but not the position of it.

1.8 ROTOR & STATOR

Moving part of motor is rotor. Rotor is used to turn the shaft to provide mechanical
power. Rotor is covered with metal conductors for carrying current, which interact with
magnetic field of stator and generate power or force. This power or force make rotor shaft
to turn or move [5]. There are also some exceptions. Some rotor carry magnetic field and
stator hold metal conductors to carry current.
Stationary part of motor called as stator. Usually it covered with windings or it has
permanent magnet. Stator of motor is made up of number of thin metal sheets called
lamination [11]. Lamination is useful for reduction of core losses.
In between the stator and rotor there is a small air gap. Air gap should be as small as
possible. Slightly large gap could affect negatively on performance of electric motor.

1.9 WINDING&COMMUTATOR
Windings are the wire coil wrapped around iron core. Iron core is soft and used to
develop magnetic pole.

1.9.1 Salient Pole Machine

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In this type of machine, below the pole face winding wound on pole produce magnetic
field.

1.9.2 Non Salient Pole Machine

It is also called as distributed pole or round rotor machine. Here the windings are
distributed in pole face slot.
Commentator is mechanism which used to alternate input of certain AC machines and
most of DC machines. It is consisting of the slip-ring segments which are insulated one
from other and from shaft of electric motor. Armature current of Motor is generally
supplied through stationary brushes with contact in revolving commentator, which further
causes reversal of required current. Also it applies power in optimal manner to machine.
Rotor used to rotate from one pole to another pole. Motor may brake to stop, in absence
of current reversal [3]. In last few 10 years due to some improved technology in market
sensor

less

control,

permanent

magnet

motor

fields,

electronic

controller,

electromechanically commutated motors and induction motor are displayed increasingly

by permanent magnet motors and externally commutated induction.

1.10 MOTOR CONTROL AND MOTOR SUPPLY

DC motor is supplied through the slip ring commentator. There are different types of AC
motors commutation [6]. They are- slip ring commentator or externally commutated type,
variable speed or fixed speed control type, asynchronous or synchronous type. Universal
motors run on both DC and AC.
The Fixed speed controlled AC type motors are generally provided with soft start or
linear online starters [8]. Term electronic commentator is associated with the self
commutated brush less switched reluctance motor and DC motor Applica

1.11 BRUSHED DC MOTOR AND ELECTRICALLY EXITED DC MOTOR

Self commutated type DC motors are run on the DC power supply. Most of DC motors
are of small PM-types [9]. To reverse the current of motor windings they have
brushed internal mechanical commutation in synchronism with the rotation.

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Commutated switch which periodically reverses flow of the current in rotor windings.
Every brushed DC type motor has the AC flowing through rotating windings of it.
Current usually flows through the one or more pairs of the brushes which bear on
commentator; brushes connect external source of the electric power to rotating armature
[10].
Rotating armature is consists of coils (one or more) of wire which wound around
laminated, soft magnetic ferromagnetic core [6]. The Current from brushes, flows
through commentator & winding of armature, makes temporary magnet (an electromagnet).
Force between both magnetic fields is tending to the rotate motor shaft. Commentator
switches the power to coils as rotor turns and keeping magnetic poles of rotor from fully
aligning with magnetic poles of stator field, thus rotor will never stops (generally what
compass needle does) or keeps it rotating as long as the power supplied.
So much limitations of classic commentator of DC motor are because of need for the
brushes to press against commentator. Sparks are generally created by brushes making &
breaking the circuits through rotor coils as brushes cross insulating gaps between the
commentator sections. And depending on commentator design include brushes shorting
both together adjacent sections and so coil ends momentarily while the crossing gaps.
Inductance of rotor coils causes voltage across each to increase when circuit is opened.
Because of that there is increasing in sparking of brushes. Sparking limits maximum
speed of machine [7]. As too rapid sparking will over heat and erode or even melt
commentator. Current Continuous is per unit area of brushes, in the combination
with resistivity which further limits output of motor. Making & breaking of the electric
contact is also generates some electrical noise. The sparking used to generate RFI. The
Brushes is eventually worn out and thus require replacement. And commentator is itself
subject to wear and maintenance or replacement.

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Commentator assembly on large motor is generally costly element. It is requiring

precision and assembly of so many parts. For small motors, commentator is permanently
integrated in rotor. So that replacing it requires replacing whole rotor [8].
Shapes of most commentators are cylindrical. Some of them are flat discs which
consisting of the several segments specially least three mounted on insulator.
The Large brushes are wanted for the larger brush area contact to maximize the motor
output. Small brushes are wanted for the low mass to maximize speed at which motor
will run without brushes increasingly bouncing and the sparking. The Stiffer brush
springs make brushes of the given mass of work at the higher speed [9]. At cost of the
greater friction losses & accelerated brush & the commentator wear. So that, design of
DC motor brush entails tradeoff efficiency/wear, speed and between output powers.
Armature circuit is winding where load current is carried in stationary or the rotating part
of the motor or the generator.

Field circuit- It is set of the windings, which usually produces magnetic field. The
electromagnetic induction may take-place in the electric machines.

Commutation- It is a mechanical technique where rectification achieved. It is also

place from which the DC derived, in DC machines.

Figure 1.12:- Armature Design of motor

Brushed DC-motor is generally of five types:
(1) DC shunt-wound

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(2) DC series-wound
(3) DC compound
(4) Cumulative compound motor
(5) Differentially compounded motor

1.12 DC MOTOR WITH PERMANENT MAGNET (PERMANENTMAGNET

DCMOTOR)
PM motors do not have field winding on stator frame. Instead of relying on the PMs to
provide magnetic field which against rotor field interacts for to produce torque. The
Compensating windings which are in series with armature can be used on the large
motors to improve the commutation under a load. Because of this, the field is entirely
fixed. And it cant adjust for the speed control. Stators or PM Fields is convenient in the
miniature motors to eliminate power consumption of field winding [9]. The Most larger
DC motors are of "dynamo" type, which generally have stator windings. PMs would not
be made to gain high flux.
On the off chance that they dismantled; field windings were more viable to get the
required measure of flux. Then again, expansive PMs are excessive, and hazardous and
hard to amass; this favors twisted fields for huge machines.
To minimize general weight and size, small scale PM motors may utilize high vitality
magnets made with neodymium or other key components; most such are neodymiumiron-boron amalgam. With their higher flux thickness, electric machines with highvitality PMs are in any event focused with all ideally composed independently Fedsynchronous and instigation electric motors. Smaller than usual motors take after the
structure in the representation, aside from that they have no less than three rotor poles (to
guarantee beginning, paying little respect to rotor position) and their external lodging is a
steel tube that attractively connects the outsides of the bended field-magnet [10].

1.13 THE ELECTRONIC COMMUTATOR MOTOR

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A portion of the issues of the brushed DC motors are disposed of in the BLDC outline. In
this particular motor, mechanical "revolving switch or rotating switch" or the
commentator is supplanted by an outside electronic switch synchronized to rotor's
position. The BLDC motors machines are regularly 8590% proficient or more.
Effectiveness for a BLDC motor of up to 96.5% have been reported, though DC motors
with brush gear are normally 7580% proficient [10].
The BLDC Motorss trademark trapezoidal back-elf waveform is gotten somewhat from
the stator windings being uniformly circulated, and mostly from the position of the rotor's
PMs. Otherwise called electronically commutated DC or back to front DC motors, stator
winding of the trapezoidal BLDC motors is able to be with single stage, two stage or
three stage and utilization Hall impact sensors mounted on windings for the rotor position
of detecting and the lower price closed loop control of electronic commentator [11].
Here, BLDC motor machines are regularly utilized where exact rate control is essential,
as in PC plate drives or in feature tape recorders, the axles inside CD, CD-ROM (and so
forth.) drives, and components inside office items, for example, fans, laser printers and
scanners. They have a few points of interest over routine motors:
Compared to AC fans utilizing shaded pole motors, they are extremely effective,
running much cooler than the proportionate AC motors. This cool operation prompts
quite enhanced existence of the fan's heading.
Without a commentator to destroy, life of BLDC motor is able to be altogether more
contrasted with a DC motor utilizing brushes and a commentator. Compensation
additionally has a tendency to bring about a lot of electrical and RF clamor; without the
commentator or the brushes, BLDC motor machine might be utilized as a part of
electrically touchy gadgets like sound hardware or PCs.
The same Hall impact sensors that give the compensation can likewise give a helpful
tachometer sign to servo controlled (closed loop control) applications. Also, in fans,
tachometer sign can be utilized to infer a "fan OK" motion and also give running rate
criticism.

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 The motor can be effectively synchronized to an inner or outer clock, induction exact
speed control.
BLDC motors have no shot of starting, not at all like brushed motors, improving them
suited to situations with unstable chemicals and powers. Additionally, starting produces
ozone which can aggregate in ineffectively ventilated structures gambling mischief to
inhabitants' wellbeing.
BLDC motors are generally utilized as a part of little hardware, for example, PCs and
are by and large utilized as a part of fans to dispose of undesirable warmth.
They are likewise acoustically calm motor which is leverage if being utilized as a part
of gear. Current BLDC motors go in force from a small amount of a watt to numerous
kilowatts. Bigger BLDC motors up to around 100 kW rating are utilized as a part of
electric vehicles. They likewise discover critical use in elite electric model airplane.
There are no PMs or brushes for SRM, and rotor has not any electric streams. Rather,
torque originates from a slight misalignment of shafts on the rotor with posts on the stator
[12]. The rotor adjusts itself to the attractive field of stator, while stator field and stator
windings are consecutively invigorated to pivot the stator field. The attractive flux made
by the field windings takes after the way of slightest attractive reluctance, importance the
flux will course through shafts of the rotor that are nearest to the invigorated posts of the
stator, along these lines charging those posts of the rotor and making torque. As the rotor
turns, distinctive windings will be stimulated, keeping the rotor turning [8].
SRMs are currently being utilized as a part of some appliances.

Figure 1.13:- Motor Coil Design

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Advanced ease all universal motor, from a vacuum more clean. Field windings are dimming
copper-hued, at the back, on both the sides. Rotor's covered center is dim metallic, with dim
spaces for winding the loops [13]. The commentator (incompletely covered up) has ended up dim
from utilization. It is toward the front. The huge chestnut shaped plastic piece in the closer view
underpins the brush guides and brushes (both sides), and the front motor bearing [10].

A commutated electrically energized arrangement or parallel wounded motor is alluded to

as an all inclusive motor in light of the fact that it can be intended to work on both AC
and DC power [11]. Universal motor can work well on AC in light of the fact that the
present in both the field and the armature loops (and henceforth the resultant attractive
fields) will exchange (reverse extremity) in synchronism, and consequently the
subsequent mechanical power will happen in a consistent heading of pivot.
Working at ordinary electrical cable frequencies, all inclusive motors are regularly found
in a range under 1000 watts. All universal motors likewise framed the premise of the
conventional rail line footing motor in electric railroads [12]. In this application, the
utilization of AC to power motor initially intended to run on the DC would prompt
productivity misfortunes because of eddy current warming of their attractive parts,
especially motor field poles pieces which, for the DC, would have utilized strong (uncovered) iron and theyre presently seldom utilized.
Favorable element of the universal motor machine is which AC supplies might be
utilized on the motors which have a few attributes more normal in DC motors,
particularly high beginning torque and extremely minimized outline if high running
speeds are utilized [13]. The negative angle is the support and short life issues created by
the commentator. Such motors are utilized as a part of gadgets, for example, nourishment
blenders (mixer) and force instruments which are utilized just discontinuously, and
frequently have high beginning torque requests. Different taps on the field coil give
(uncertain) step speed control. Family blenders that promote numerous rates as often as
possible join a field loop with a few taps and a diode that can be embedded in
arrangement with the motor (bringing on motor to run/carry on the half-wave-rectified
AC) [14]. General motors additionally loan themselves to electronic velocity control and,
accordingly, are a perfect decision for gadgets like local clothes washers. The motor can

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be utilized to disturb the drum (both advances and in converse) by exchanging the field
winding regarding the armature.
While SCIMs can't turn a shaft quicker than permitted by the electrical cable recurrence,
all universal motors can run at much higher rates. This makes them valuable for
apparatuses, for example, blenders, vacuum cleaners, and hair dryers where rapid and
light weight are alluring. They are additionally regularly utilized as a part of convenient
force devices, for example, drills, sanders, round and dance saws, where the motor's
attributes function admirably [15]. Numerous vacuum cleaner and weed trimmer motors
surpass 10,000 rpm, while numerous comparable smaller than expected processors
surpass 30,000 rpm

1.14 EXTERNALLY COMMUTATED AC MACHINE

The outline of AC motors (induction and synchronous) is improved for operation on
single-stage or poly phase sinusoidal or semi sinusoidal waveform power, for example,
supplied for the fixed-speed application from AC power lattice or for the variable-speedapplication from the VFD controllers [8]. The AC motor generally has two sections: a
stationary stator having winding supplied with AC to deliver a rotating magnetic field,
and a rotor connected to output shaft which is given torque by rotating field.

1.15 THE INDUCTION MOTOR

1.15.1 Wound or Cage Rotor Induction Type Motor
An induction motor machine is an offbeat AC motor machine where force is exchanged
to rotor by the electromagnetic induction, very much like the transformer activity [9]. An
induction motor machine takes after rotating transformer, in light of the fact that the
stator (stationary part) is basically the essential side of the transformer and the rotor
(pivoting/rotating part) is the auxiliary side. Poly phase inductions motors are broadly
utilized as a part of industry.
The induction motors may be further partitioned into the Squirrel-Cage Induction Motors
and the Wound-Rotor Induction Motors. The SCIMs have overwhelming twisting
comprised of strong bars, as rule aluminum or the copper, which joined by the rings at
closures of the rotor. At the point when one considers just the bars and rings in general,
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they are much like a creature's pivoting/rotating activity confines, subsequently the name
[4].
Induced current into winding is giving the rotor attractive magnetic field. The state of the
rotor bars decides the rate torque attributes. At low speeds, the current induced in squirrel
cage is almost at line recurrence frequency and has a tendency to be in the external parts
of the rotor confine. As motor quickens, slip frequency gets to be lower, and more present
is in inside of the winding. By molding the bars to change the resistance of twisting
divides in inside and external parts of pen, successfully a variable resistance is embedded
in the rotor circuit. On other hand, greater part of such motors has uniform bars [10].
In WRIM, rotor winding is made of numerous turns of protected wire and is associated
with slip rings on motor shaft. An outer resistor or other control gadgets can be associated
in rotor circuit. Resistors permit control of motor speed, albeit huge force is disseminated
in outer resistance [13]. Converter can be nourished from rotor circuit and return slip
frequency control that would some way or another be squandered over into force
framework through the inverter or the separate motor-generator.
A WRIM is basically utilized to begin high inactivity burden or heap that
obliges high beginning torque over full speed extent. By accurately
selecting the resistors utilized as part of optional resistance or slip ring
starter, motor machine has capacity produce greatest torque at
generally low supply current from zero pace/speed to full speed. This
kind of motor likewise offers controllable velocity [5].
Motor Speed can be changed on grounds that torque bend of motor
machine is viably adjusted by the measure of resistance associated
with the rotor circuit. Expanding the estimation of resistance will move
the velocity of greatest torque down. Resistance associated with rotor
is expanded the past point where most extreme torque happens at
zero speed, torque will be further decreased [6].

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At the point when utilized with heap that has a torque bend those
increments with pace, the motor will work at the velocity where the
torque grew by motor is equivalent to heap torque. Decreasing heap
will bring about motor to accelerate, and expanding the heap will bring
about motor to ease off until the heap and motor torque are break
even with. Worked in this way, slip losses are disseminated in auxiliary
resistors and can be extremely noteworthy. The pace regulation and
net effectiveness is additionally exceptionally poor [7].

1.15.2 Torque Motor

Torque motor is a particular type of electric motor machine which can
work uncertainly while slowed down that is, with the rotor hindered
from turning, without acquiring harm [8]. In this method of operation,
the motor will apply a consistent torque to the heap (subsequently the
name).
A typical utilization of a torque motor would be supply and take up the
reel (small) motors in tape drive. This application is driven from low
voltage; qualities of these motors permit a moderately steady light
pressure to be connected to the tape whether the capstan is nourishing
the tape-past-tape-heads [12]. Which driven from higher voltage, (thus
conveying a higher torque), the torque motors can likewise accomplish
quick forward and rewind operation without obliging any extra
mechanics, for example, apparatuses or grips. In the PC gaming world,
torque motors are utilized as a part of power input guiding wheels.
Another normal application is control of throttle of interior ignition
motor in conjunction with an electronic senator. In this utilization, the
motor conflicts with an arrival spring to move the throttle as per the
yield of the representative [13]. The last screens motor speed by
numbering electrical heartbeats from the ignition framework or from
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an attractive pickup and, contingent upon the velocity, makes little

conformity to the measure of current connected to the motor. On the
off chance that the motor begins to ease off with respect to the sought
speed, the present will be expanded, the motor will grow more torque,
pulling against the arrival spring and opening the throttle. Should the
motor run too quick, the senator will decrease the present being
connected to the motor, creating the arrival spring to draw back and
close the throttle.

1.16 SYNCHRONOUS TYPE MOTOR MACHINE

A synchronous type electrical motor is the AC motor recognized by a
rotor turning with loops passing magnets with same rate as AC and the
coming about attractive field which drives it. Another method for
saying this is that it has zero sneak by normal working conditions.
Stand out this from an actuation motor, which must slip to deliver
torque. One sort of synchronous motor is similar to an incitement
motor aside from the rotor is energized by DC field [4]. The Slip rings &
the brushes are utilized to Linear current to the rotor. The rotor shafts
associate with one another and move at the same speed henceforth
the name synchronous motor. Another sort, for low load torque, has
pads ground onto an ordinary squirrel-confine rotor to make discrete
posts. Yet another, for example, made by Hammond for its pre-world
War II clocks, and in the more seasoned Hammond organs, he has not
any rotor windings and the discrete posts/shaft/pole. It is not selfbeginning. The clock obliges manual beginning by a little handle on the
back, while the more seasoned Hammond organs had an assistant
beginning motor associated by a spring-stacked physically worked
switch [3].
At long last, hysteresis synchronous motors commonly are (basically)
two-stage motors with a stage moving capacitor for one stage. They
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begin like induction motors, yet when slip rate diminishes adequately,
the rotor (a smooth barrel) gets to be incidentally polarized. Its
conveyed posts make it which act like PMSM [9]. Rotor material, similar
to that of a typical nail, will stay polarized; yet can likewise be
demagnetized with little trouble. When running, the rotor shafts stay
set up; they don't drift Low-control synchronous timing motors, (for
example, those for customary electric timekeepers) may have multipost PM outer glass rotors, and utilization shading curls to give
beginning torque. Telethon clock motors have shaded shafts for
beginning torque and two spoke ring-rotor which performs like discrete
two post rotor.

1.17 ELECRIC DOUBLY FED MOTOR

Doubly Fed electric motors generally have two free multiphase winding
sets, which contribute dynamic (i.e., working) energy to the vitality
transformation process, with no less than one of winding sets are
electronically controlled for the variable speed operation. The two free
multiphase winding sets (i.e., double armature) are the greatest gave
in a solitary bundle without topology duplication [11]. Doubly sustained
electric motors are machines with a successful steady torque speed go
that is twice synchronous velocity for a given recurrence of excitation.
This is double the consistent torque speed extend as independently
Fed-electric machines, which have one and only dynamic winding set.
A doubly Fed motor takes into consideration a littler electronic
converter however the expense of rotor winding and the slip rings may
be balance the sparing in the force gadgets segments.

1.18SPECIAL TYPE MAGNETIC MOTOR MACHINE

The Rotary Type
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 Coreless or Ironless Rotor Motor

Miniature Coreless Motor
The guideline of any of the motors portrayed above obliges that the iron (steel) segments
of the rotor really turn. In the event that the delicate attractive material of the rotor is
made as a barrel, then (with the exception of the impact of hysteresis) torque is applied
just on the windings of the electromagnets. Exploiting this is ironless DC motor, specific
manifestation of a PM DC motor. Optimized for fast increasing speed, these motors have
a rotor that is built with no iron center. The rotor can take the manifestation of a windingfilled chamber, or a self-supporting structure including just the magnet wire and the
holding material [12]. An attractively delicate stationary chamber inside the rotor gives
an arrival way to the stator attractive flux. A second plan has the rotor winding wicker bin
encompassing the stator magnets. In that plan, the rotor fits inside an attractively delicate
chamber that can serve as the lodging for the motor, and similarly gives an arrival way to
the flux. The rotor can quicken a great deal all the more quickly, frequently
accomplishing a mechanical time steady less than one ms. and this is particularly genuine
if the windings use aluminum instead of the heavier copper. Overheating may be an issue
for coreless DC motor plans. Among these types are the plate rotor types, depicted in
more detail in the following area. Vibrator motors for mobile phones are now and then
little barrel shaped PM field types, yet there are likewise plate formed types which have a
flimsy multi-polar circle field magnet, and a deliberately lopsided formed plastic rotor
structure with two reinforced coreless loops. Metal brushes and a level commentator
switch energy to the rotor loops. Related constrained travel actuators have no center and a
fortified loop put between the shafts of high-flux slight PMs [13]. These are the quick set
out positioners toward inflexible circle ("hard plate") drives. Despite the fact that the
contemporary outline varies significantly from that of amplifiers, it is still freely (and
erroneously) alluded to as a "voice loop" structure, in light of the fact that some prior
inflexible plate of an amplifier.

1.19 PANACAKE OR AXIAL ROTOR MOTOR

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A somewhat uncommon motor plan, the printed armature or hotcake motor has the
windings formed as a circle running between exhibits of high-flux magnets. The magnets
are masterminded around confronting the rotor with speed in the middle of to shape a
pivotal air gap. This outline is ordinarily known as the hotcake motor due to its
amazingly level profile, despite the fact that the innovation has had numerous brand
names since its beginning, for example, Servo Disc [15]. The printed armature (initially
framed on the printed circuit-board) in printed armature type motor machine is produced
using punched copper sheets that are overlaid together utilizing propelled composites to
shape a meager inflexible circle. The brushes run straightforwardly on the armature
surface making the entire outline extremely smaller. An option fabricating technique is to
utilize wound copper wire laid level with a focal ordinary commentator, in a bloom and
petal shape. The windings are normally settled by being impregnated with electrical
epoxy preparing frameworks. These are filled epoxies that have moderate blended
consistency and commonly UL 1446 perceived as a preparing compound protected with
180 C, Class H rating.
There is no cogging (torque varieties brought on by changing fascination between the
iron and the magnets). Parasitic whirlpool streams can't shape in the rotor as it is
absolutely ironless, albeit iron rotors are overlaid. This can extraordinarily enhance
effectiveness, yet variable-speed controllers must utilize a higher exchanging rate (>40
kHz) or DC in light of the diminished electromagnetic induction. These motors were
initially created to drive the capstan(s) of attractive tape drives in the prospering PC
industry, where negligible time to achieve working rate and insignificant halting
separation were basic. Hotcake motors are still broadly utilized as a part of superior servo
controlled frameworks, mechanical frameworks, modern computerization and restorative
gadgets. Because of the mixture of developments now accessible, the innovation is
utilized as a part of utilizations from high temperature military to minimal effort pump
and essential servos [16].

1.20 SERVO MOTOR

A servomotor is an motor, frequently sold as a complete module, which is utilized inside
a position-control or velocity control criticism control framework principally control
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valves, for example, motor worked control valves [17]. Servomotors are utilized as a part
of uses, for example, machine instruments, pen plotters, and different methodology
frameworks. Motors expected for utilization in a servomechanism must have all around
reported attributes for speed, torque, and force. The rate versus torque bend is truly
critical and is high proportion for a servo motor. Dynamic reaction attributes, for
example, winding inductance and rotor idleness are additionally imperative; these
elements confine the general execution of the servomechanism circle. Huge, intense,
however moderate reacting servo circles may utilize customary AC or DC motors and
drive frameworks with position or velocity input on the motor. As dynamic reaction
prerequisites build, more particular motor outlines, for example, coreless motors are
utilized. Air conditioning motors' unrivaled force densityand speeding up attributes
contrasted with that of DC motors has a tendency to support PM synchronous, BLDC,
instigation, and SRM drive applications.
A servo framework varies with input is constant while the motor is running; a stepper
framework depends on the motor not to "miss ventures" for transient exactness, in spite
of the fact that a stepper framework may incorporate a "home" switch or other component
to give long haul security of control [7]. The length of force is on, a bi-Linearional
counter in the printer's chip stays informed regarding print-head position.

1.21 STEPPER MOTOR.

Stepper motor with the delicate iron rotor, with dynamic windings demonstrated. In "A"
the dynamic windings have a tendency to hold rotor in the position. And in "B" an
alternate arrangement of windings are conveying a current, which creates torque and turn.
Stepper motors are a sort of motor every now and again utilized when exact revolutions
are needed. In a stepper motor an interior rotor containing PMs or an attractively delicate
rotor with notable shafts is controlled by a situated of outside magnets that are exchanged
electronically. A stepper motor might likewise be considered as cross in between the DC
electric motor machine and the turning solenoid [5]. As every curl is stimulated thusly,
the rotor adjusts itself to the attractive field created by the empowered field winding.
Dissimilar to synchronous motor, stepper motor may not be pivot continuously; rather, it
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"steps" begins and after that rapidly stops once more starting with one position then onto
the next as field windings are empowered and de-stimulated in arrangement. Contingent
upon the grouping, the rotor may turn advances or in reverse, and it may alter course,
stop, accelerate or ease off subjectively [3].
Straightforward stepper motor drivers completely stimulate or totally de-invigorate the
field windings, driving the rotor to "gear-tooth" to a predetermined number of positions;
more advanced drivers can relatively control the ability to the field windings, permitting
the rotors to position between the machine gear-piece focuses and subsequently pivot to a
great degree easily. This method of operation is regularly called micro-stepping. PC
controlled stepper motors are a standout amongst the most flexible manifestations of
situating frameworks, especially when some piece of an advanced servo-controlled
framework [12].
Stepper motors can be turned to a particular edge in discrete strides no sweat, and
henceforth stepper motors are utilized for read/compose head situating in PC floppy
diskette drives. They were utilized for the same reason as a part of pre gigabyte period PC
plate drives, where the exactness and velocity they offered was satisfactory for the right
situating of the read/compose leader of a hard circle drive . As drive density expanded,
the accuracy and rate confinements of stepper motors made them out of date for hard
drives the exactness restriction made them unusable, and the speed constraint made them
uncompetitive in this way fresher hard circle drives utilization voice loop based head
actuator frameworks. (The expression "voice loop" in this association is memorable; it
alludes to the structure in a run of the mill (cone sort) amplifier. This structure was
utilized for some time to position the heads. Current drives have a turned curl mount; the
loop swings forward and backward, something like a sharpened steel of a turning fan. In
any case, similar to a voice curl, current actuator loop conduits (the magnet wire) move
opposite to the attractive lines of power [13].
Stepper motors were and still are frequently utilized as a part of PC printers, optical
scanners, and advanced scanners to move the optical filtering component, the print head
carriage (of speck grid and inkjet printers), and the platen or food rollers [14]. In like
manner, numerous PC plotters (which since the mid 1990s have been supplanted with
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vast arrangement inkjet and laser printers) utilized revolving stepper motors for pen and
platen development.
Alleged quartz simple wristwatches contain the littlest typical going motors they have
one curl, draw next to no force, and have a PM rotor [15]. The same sort of motor drives
battery-controlled quartz timekeepers. Some of these watches, for example,
chronographs, contain more than one going motor.
Nearly related in configuration to three-stage:

SRMs, stepper-motors and AC

synchronous-motors are named variable hesitance motor type [10]. The Stepper type
motor machines were frequently utilized as a part of PC printers, optical scanners, and PC
numerical control (CNC) machines, for example, switches, plasma cutters and CNC
machines.

1.22 LINEAR MOTOR AND ELECTROMAGNETISM

A Linear motor is an "unrolled" electrical motor machine, so that, as opposed to creating
a torque (pivot), it creates a straight-line drive along its length [11]. Linear motors are
most regularly affectation motors or stepper motors. Straight motors are generally found
in numerous crazy rides where the quick movement of motor-less rail car is controlled by
rail.
The principal reason for the larger part of world's electric motor machine is to the
electromagnetically affect relative development in an air hole between a stator and rotor
to create helpful torque or straight com
A/c Lorentz Force Law

Mechanical Power Output of Motor

HP

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Watts
Watts
For asynchronous or induction motor, relation between motor speed and the air gap
power is,

, where
Rr - rotor resistance
Ir2 currents square induced in rotor
And s slip

1.23 BACK EMF AND EFFCIENCY OF MOTOR

The armature windings of an immediate current motor are traveling through an attractive
field; they have a voltage instigated in them. This voltage has a tendency to restrict the
motor supply voltage as is called "back electromotive power (emf)" [16]. The voltage is
corresponding to the running rate of motor. Back emf of motor, in addition to the voltage
drop over the winding inner resistance and brushes, must equivalent the voltage at the
brushes. This gives the principal component of velocity regulation in a DC motor. In the
event that the mechanical burden builds, the motor eases off; a lower back emf results,
and more present is drawn from the supply. This expanded current gives the extra torque
to adjust new load.
In the AC machines, back emf is here and there valuable to consider a back emf source
inside the machine; this is of specific sympathy toward close speed regulation of
incitement motors on VFDs, for example. Losses motor misfortunes are predominantly
because of resistive misfortunes in windings, center misfortunes and mechanical
misfortunes in course, and flight optimized misfortunes, especially where cooling fans
are available, likewise happen [17].
Misfortunes likewise happen in recompense, mechanical commentators sparkle, and
electronic commentators furthermore disseminate heat.

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,
Where

is energy conversion efficiency

Is electrical input power

and

Where

is mechanical output power:

is input voltage,

is input current,

is output torque, and

is output angular

velocity.

1.24 TORQUE CAPACITY OF MOTOR TYPES

All the electromagnetic motors and that incorporate the types specified here get the
torque from the vector result of the connecting fields. For ascertaining the torque it is
important to know the fields noticeable all around crevice. When these have been built by
scientific analysis utilizing FEA or different apparatuses the torque may be figured as the
indispensable of every last one of vectors of power reproduced by the sweep of every
vector. The present streaming in the windings is delivering the fields and for a motor
utilizing an attractive material the field is not linearly proportional to the current. This
makes the figuring troublesome yet a PC can do the numerous computations required.
The greatest torque for a motor will rely on upon the most extreme current in spite of the
fact that this will ordinarily be .just usable until warm contemplations outweigh
everything else. At the point when ideally composed inside a given center immersion
imperative and for a given dynamic current (i.e., torque current), voltage, post pair
number, excitation recurrence (i.e., synchronous speed), and air-crevice flux thickness, all
classifications of electric motors or generators will display practically the same greatest
nonstop shaft torque (i.e., working torque) inside a given air-hole region with winding
openings and back-iron profundity, which decides the physical size of electromagnetic
center [15].A few applications oblige blasts of torque past the most extreme working
torque, for example, short blasts of torque to quicken an electric vehicle from stop.
Continuously restricted by attractive center immersion or the safe operating temperature
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increase and voltage, limit for torque blasts past the most extreme working torque
contrasts altogether between classes of electric motors or generators.
Limit for blasts of torque ought not to be mistaken for field debilitating ability. Field
debilitating permits an electric machine to work past the planned recurrence of excitation.
Field debilitating is done when the most extreme velocity can't be come to by expanding
the connected voltage [16]. This applies to just motors with current controlled fields and
accordingly can't be accomplished with PM motors.
The electric machines without the transformer circuits topology, for example, that of
WRSMs or PMSMs, can't understand blasts of torque higher than the most extreme
planned torque without soaking the attractive center and rendering any increment in
present as pointless [17]. Besides, the PM gathering of PMSMs can be hopelessly
harmed, if blasts of torque surpassing the most extreme working torque rating are
endeavored.
Electric machines with transformer circuit topology, for example, incitement machines,
actuation doubly nourished electric machines, and affectation or synchronous injury rotor
doubly sustained (WRDF) machines, display high blasts of torque in light of the fact that
the elf-affected dynamic current on either side of the transformer restrict one another and
hence contribute nothing to the transformer coupled attractive center flux thickness,
which would somehow prompt center immersion. Electric machines that depend on
affectation or non-concurrent standards impede port of the transformer circuit and
accordingly, the receptive impedance of the transformer circuit gets to be prevailing as
slip expands, which confines the extent of dynamic (i.e., genuine) current. Still, blasts of
torque theyre 2 to 3 times higher than most extreme outline torque are feasible.
The brushless injury rotor synchronous doubly sustained (BWRSDF) machine is the main
electric machine with a genuinely double ported transformer topology circuit (i.e., both
ports autonomously energized with no short-circuited port). The double ported
transformer circuit topology is known not temperamental and obliges a multiphase slipring-brush gathering to engender restricted energy to the rotor winding set [18]. In the
event that an exactness means were accessible to promptly control torque point and slip
for synchronous operation amid motoring or producing while at the same time giving
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brushless energy to the rotor winding set, the dynamic current of the BWRSDF machine
would be autonomous of the responsive impedance of the transformer circuit and blasts
of torque altogether higher than the greatest working torque and a long ways past the
down to earth capacity of whatever other kind of electric machine would be feasible.
Torque blasts more noteworthy than eight times working torque have been ascertained.
From experimental data that is used for System Identification the mathematical model
was obtained. It involves importing the input and output data from the experiment with
respect to time. Trends are omitted from imported data during pre-processing. Preprocessing develops data quality by omitting unwanted data in the imported data. Preprocessing has filtering, de-trending, selecting range and removing means etc.
Process administration is a conservative articulation of rising the operation of a system,
the profitability of a plant, and along these lines the nature of stock nowadays, the interest
for right temperature administration and air ventilation administration has vanquished a
few of business areas like technique warmth nutritive business, auto, modern territories or
work environment structures wherever the air is cooled in order to deal with a cushy
surroundings for its tenants. One in every of the principal essential contemplations
concerned in warmth space comprise inside of the sought temperature realization and
utilization change. To fulfill such a test one should advance suitable administration ways.
Inside of the most recent decade broadly examination has been made with significance
temperature administration for different sorts of procedures. Inside of the paper the
creators propose a fluffy PID warm framework for a throwing and in the temperature
administration (roundabout versatile general) of modernity of a latent HVAC framework
is style. Ongoing PID administration for warming plant abuse PIC16F887
microcontroller was composed and upheld as is indicated. The creators propose style
outline for water temperature administration. The study infers every obtaining and
demonstrating methods and administration ways upheld PID controller.
An obligatory interest to actualize the pleasantly determination is that the model securing
that depicts the propelled conduct of the framework. The paper concentrates on the model
recognizable proof and administration of temperature in an extremely testing room
intended for ventilation. The most motivation to determine an espresso esteem
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application is that to be proper for different studies with pertinence administration

courses for temperature administration or to be of enthusiasm for plant style. The
objective of this study is to research and add to a scholastic plant that may be utilized at
entirely

unexpected

application

lab

wherever

understudies

study

concerning

microcontrollers, information securing, and framework recognizable proof and especially

framework style. Plant usage will basically be reused by clients who don't appear to be
educated in plant style. The research facility configuration anticipated amid this paper
licenses to run tests though collaborating with its components. Administration outline
leave client to actualize data of the administration designing that in clear means. The
planned application with PIC18F4620 is furthermore useful in prophetic administration
investigation for installed controller. Additionally, lately, the necessities for the standard
of administration style in technique amplified because of the processing power high
caliber.
The paper is sorted out as takes after: the second a piece of the paper shows the cooling
framework style and execution with PIC18F4620. Resulting area manages the data
obtaining and model recognizable proof. Inside of the third piece of the paper an impact
framework style bolstered PID controller was produced. Additionally, some ongoing
trials are performed so concerning occurrence the exhibitions of the implemented
controller. At long last a few conclusions are given.
Extensive sizes of an application are committed to oversee temperature terribly
exceptionally sensible environment relevant to fluctuated needs. In this way on get ideal
execution it would be invaluable to give temperature administration structure then by
giving more secure cooling or the glow with higher exhibitions regarding the vitality
productivity, adaptability & mobility. Broadly examination has been made on warming
administration on account of the prerequisite in brilliant applications. Throughout this
paper the build concentrates on a clear technique which may be material to instructive
application arrange incidentally all entirely unexpected administration vogue
perspectives. Planned plant may well be an espresso worth application with components
snappy access. Plant comprises terribly (exceptionally cooler, resistance, sensor &
microcontrollers that are epitomized terribly) next to no testing room, as is indicated
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inside the Fig.1. Simple temperature sensor LM335 will offer information of the current
condition of degrees at each testing time.
To mitigate execution of anticipated cooling framework its a need to expand temperature
with an electrical warmth gadget made-up from nickel. The warmth releases inside the
little range are mounted by restricting the estimation of the current with variable voltage
component for different current. Work of cooler are to lessening air temperature from
room. The microcontroller can send evidence to L298 an H-span, who can charge the DC
engine of the cooler as is depicted in Fig. 2. In order to direct the air temperature to the
predefined point, a controller is needed. It's to be said that the analysis begins from an
immovable temperature inside of the room. The glow resistance is framed by nickel and
transmits a warmth sum inside of the environment. To stay away from an amazing
temperature degree, the present fluctuate of the resistance is banished by a voltage
potentiometer to get a 77C inside of the arranged testing room. This some piece of the
framework utilized a 220 outside supply. One in every of the dynamic parts of the
framework is that the PC cooler. Misuse the L298 charges, the engine can turn regarding
DC engine speed administration technique. The H Bridge L298 can guarantee the
sustenance for the cooler DC engine. The engine velocity is changed from 950 to 3600
giving a most 44.3 CMF. The LM335 simple gadget could be a useful electrical gadget
for the framework. The gadget works kind -40C to 100C and amid this application is
utilized the plastic TO bundles gadget, considering essential temperature. With one
degree exactitude and clear to balance utilizing a ten kOhm resistance it offers the
specific Kelvin) degrees. The K degree are conceived again in Celsius degree, in order to
send the information to the microcontroller The anticipated improvement board used in
this paper named MDB01 (motherboard) made by SMTD (Smart specialized Design) was
uniquely intended for application with low esteem microcontrollers like miniaturized
scale chip 8 bits 16xxx and 18xxx, with forty pins, gang. This board contains which may
extensively reduce power utilization all through operation. The forty megahertz agent
recurrence joined with thirteen information channels for Analog-to-Digital Module,
65536 Bytes of Program Memory and 1024 Bytes for learning EEPROM are various the
choices of 18F4620. The microcontroller uses a seventy five direction set and eighty

| P38 | Page

three augmented guideline set empowered. The gadget license expanded USART Serial
Communication and moreover concedes five I/O Timers.
The correspondence to the pc is shaped with a USB link that adjusts the sign to serial
correspondence with an equipment gadget FT232RL, as represented in [3]. This office
offers the probability to discover associations with all popular PC or scratch pad. MDB01
is supplied with L298. Full Bridge is giving the summon activities. its high voltage, high
momentum, twin full scaffold driver intended to simply settle for standard TTL rationale
levels & drive inductive bounty like solenoids, transfers, DC & stepper engines. Two
modify inputs are given to change or cripple gadget severally of data signs. All through
this application its utilized one information single DC-engine. Emitters of lower
transistors of every scaffold are associated on and furthermore the relating outside
terminal is utilized for association of an outer gadget. Extra offer information is given so
as that rationale meets expectations at lower voltage. An easy to understand a piece of the
technique is that the shading fluid gem show S1D15G14 with 98x67 pixels interfaced
with eight bits with 18F4620 that is in a position to show in time period the temperature
degree from the sensors
They grew low esteem application is committed so concerning example entirely
unexpected administration courses for temperature administration subject to cooling
advancement. Inside of the following segment, the eye is focused on continuous
information procurement, trailed by the open circle model distinguishing proof.
The study is committed to the instructional exercise exercises inside of the field of
framework style. The general reason for the technique is to verify a fancied temperature
in an exceptionally shut circle framework security operational common sense and for
comprehension the motion of a cooling framework. The vital data concerning the system
portrayal is given in segment II. The point of this segment is for case the best approach to
secure continuous information from the technique, the model distinguishing proof and
framework courses proper for air temperature administration. The framework is direct,
discrete-time and single information single yield. The flagging considered is that the
obligation cycle of the PWM signal and consequently the yield is envisioned by the air
temperature worth measured from the lumen simple gadget.
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The framework exchange capacities are thought to be capacities in nonstop time area.
Securing segment speaks to a fundamental stride in model distinguishing proof of the
progress of the plant that needs exactness in bringing about data summons to the
framework and exact measure of the yield values. This includes a perfect timing between
the charge activity and yield. Information qualities summon flag and yield supply a
decent hazard to make an elegant or disentangled model for the plant. Correspondence
channels ought to be synchronous and protections ought to activity to the potential outer
unsettling influences. The higher model got the bigger execution administration activity
is performed. On the other hand, the circulation of the temperature relies on upon a lot of
things that impact the kind and consequently the parameters of the model. The
administration activity is given by the obligation cycle estimations of the PWM signal
that are connected to the cooling DC engine. The administration summon from the
microcontroller is given utilizing a Micro bundle application, the code being composed in
C++. In order to get the twelve at the DC engine its compulsory to utilize a fitting
recurrence to L298 Bridge. The scaffold was wont to repay the PIC18F4620 yield voltage
that was limited to 5 V, as an aftereffect of the PIC voltage reference is given by the PC
USB port. The L298 Bridge offers the 12 V for augmenting the execution. It's to be said
that the L298 H-Bridge replaces the quality D/A gadget. At the point when setting the DC
engine operation recurrence worth to 2.44 kHz, very surprising obligation cycle qualities
were tried. Inside of the framework ID segment, stage info from two hundredth to
ninetieth obligation.
Keeping in mind the end goal to amass a delegate information set it totally was accepted
that inside of the room a 77C was settled. At this consistent close temperature worth the
investigations began. 1sty it completely was connected a charge activity to the engine at
the two hundredth of the obligation cycle for four min. amid this time the yield the
LM335 gadget were gathered consistently and spared inside of the EEPROM memory.
This quick memory will record awfully revise the A/D sent qualities. Assortments of tests
in C degrees were recorded amid this time. Stationary administration is settled in
concerning four min; a short time later a fresh out of the box new order is conveyed by
the microcontroller to the L298 Bridge. This powers the engine work a ninetieth
obligation cycle and accordingly the air temperature inside of the testing room
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diminishes. The new temperature qualities were recorded when the last yield given by the
two hundredth obligation cycle charge. It are frequently specified that the ninetieth
obligation cycle summon was connected abuse one second inspecting time. The
EEPROM memories were sent to a PC utilizing a USB correspondence link and each one
yield qualities were spared in an extremely PC record. FT232RL interface serves to
change over the serial transmitter of the 18F4620 into an outsized scale USB interface
who acts kind of a serial conveying.
The recurrence for the DC cooling engine was tried all through the securing stage to line
up the pulse expansiveness sum inside of the season of the analyses. At the point when
testing however the framework lives up to expectations at very surprising PWM
recurrence a 2.44 kilohertz was set up. A few tests were made inside of the testing room
shifted the DC cooling force. The PWM summon was resolved on the CRO as indicated
in Fig.
To recognize the parametrical model of the cooling system the Identification apparatus
bureau from Mat lab was utilized. The cooling strategy are frequently portray as a
relentless system anyway we have the capacity to administration it as a particular time
framework. For a fair portrayal of the strategy we need to make a model of the technique.
The correspondence of the framework with a pc is imperative to exchange the
information from the LM335 gadget to the pc. Misuse the USB link the voltage values
from the gadget were output by the simple to advanced gadget at every second and when
changing to C degree the information were send to the PC. To establish the model of the
plant some important information must be urged to be hang on. An open circle reaction
offers essential data to make a genuine model that may be handled inside of the
Identification device bureau from Mat lab environment. A stage is connected to the
framework and thusly the yield reactions are spared in Mat lab space. The inputs for the
framework are frequently thought about the obligation cycle worth of the PWM and can
be considered in % values. Some very surprising estimations of the stride were connected
to the framework and consequently the reactions are planned inside of the Figs. 4 and
figure No.5.

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From the present reactions the last arrangement of learning was wont to set up the
persistent time demonstrate in Mat lab bundle. Inside of the Identification apparatus
bureau the order and consequently the yield reaction were won't to deliver a model. With
these changed qualities a fresh out of the box new constant temperature administration
has been performed, subject to the point changes.
The following analysis begins with at first temperature of 59C inside of the testing room
the reference was settled to 43C. a just took the ribbon off new step worth in point was
situated to 30C. at the point when the fugacious administration the PID controller
achieves.
Technology of vehicular and indoor comfort of environment is known as HAVC , i.e.,
Heating, Ventilating and Air conditioning. Acceptable quality of air indoor and comfort of
thermal is the goal of HAVC. Its systems' design is mechanical engineering sub
discipline. Thermodynamics, heat transfer and fluid mechanics are its principles. It is
sometimes known as HAVC&R or HVACR with the addition of Refrigeration. Also
sometimes Ventilation is omitted and hence it becomes HACR. In large to medium
industries and offices and in marine environments for example aquarium, skyscrapers etc
in which conditions of healthy buildings are required in respect to humidity and
temperature utilizing outdoors for fresh air, HVAC plays a vital and important role.
Process of replacing are continuously changing air of the space in order to provide high
quality of indoor air that includes the control of temperature, replenishment of oxygen,
moisture removal, odor removal, dust and heat removal along with removal of smoke,
carbon dioxide and airborne bacteria. Excessive moisture and unpleasant smells are
removed by ventilation. Stagnant interior air prevention and circulation of air of interior
building is also done by ventilation.
Both circulation and exchange of air are included in ventilation. For making good air
quality and healthy environment inside the building, ventilation is needed. There are two
types of ventilations to ventilate a building1. Mechanical/ forced
2. Natural
| P42 | Page

Ventilation, heating and air-conditioning are interrelated. Indoor quality of air and
thermal comfort needs are provided within reasonable maintenance cost, operation and
installation. Ventilation, lessen air infiltration and pressure maintenance are provided by
HVAC. Distribution of room air is the term used for delivery of air and its removal from
the space.
One or more than one HVAC system is used nowadays in modern buildings for
controlling system, installation and design. HVAC system is selected and equipments are
provided in small buildings by estimating the capacity and engineer. Designers of
building service, mechanical engineers or engineers of building service, design are
needed for larger buildings to specific HVAC system. The system is then commissioned
and fabricated by the special mechanical contractor. For all buildings, irrespective of their
sizes building permit and inspection of code-compliance is needed.
The equipments involved in HVAC are sometimes extension of larger DH, district
heating or DC district cooling or combination of both DHC network. In such a case,
metering becomes necessary and mandatory to measure the amount of electrical energy
consumed. On larger networks basing HVAC plays an important role in order to have an
economy that has scale which is impossible for individual buildings and utilization of
source of renewable energy for example solar heat, free cooling provided by potential
cooling in places like lakes and finally enabling storage of thermal seasonal energy
storage.
Discoveries and inventions of various scientists as Nicolay Lvov, Willis Carrier etc is the
basis of the HVAC. Different methods of modernization control of system, higher
efficiency along with industrial revolution plays vital role in invention of HVAC
component.
Generation of heat is the basic purpose of the heaters in a building. Central heating is one
of the ways to do it. Boiler, heat pump or furnace can be used to heat, steam or even to air
in a location that is central as for e.g. in home furnace home or in large room it could be
mechanical room. Convection, radiation and conduction can be used to transfer heat.

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Heaters exist for all kind f fuels i.e. solid, liquid and gaseous fuel. Electricity is another
type of source of heat. For portable and baseboard heaters this principle can be used. For
heat pump systems supplement or back up heat can be used by electrical heaters. In
1950s, heat pump acquires popularity. Heat can be extracted from ground, exhaust or
environmental air for heat pump. Usually in moderate climates heat HVAC pump systems
were used but with advance in technologies, their use is increasing even in low
temperature.
Water/steam Piping is used for heat transmission as steam. Circulator is present in most
of the modern heating system to move hot water boiler. Using radiators heat can be
transferred to surrounding air. To give floor heat radiators may be mounted in floor or it
can also be mounted on wall. Hydroids are the medium of heat transfer through water. An
additional heat exchanger in order to supply washing and bathing hot water.
Heated air is distributed by duct work system and they return through fiber glass or metal
ducts. In many systems, same ducts are used for circulation of cool air through an
evaporator coil.
Combustion by- products and volatile organic compounds might be released as the result
of incomplete combustion that occurs due to the installment of boilers, furnaces and
space heaters as indoor heating tool. Incomplete combustion happens due to insufficient
supply of oxygen. Inputs are the fuel that contains various contaminants and outputs are
different kind of harmful by products. Most dangerous output is carbon monoxide gas
that is odorless and tasteless gas that can cause serious health hazards.
Carbon monoxide can be lethal sing at 1000 ppm concentration if there is no proper
ventilation. Carbon monoxide can reduce the bloods' ability to transport oxygen by
binding with it and forming carboxyl hemoglobin.

1.24.1 CONINUOUS TORQUE DENSITY

Torque density (continuous) of ordinary electric machines is dictated by the measure of
the air-crevice territory and the back-iron profundity, which are controlled by the force
rating of the armature winding set, the rate of the machine, and the achievable air-hole
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flux density before center immersion. Regardless of the high coercively of neodymium or
samarium-cobalt PMs, consistent torque density is practically the same amongst electric
machines with ideally outlined armature winding sets. Ceaseless torque density identifies
with technique for cooling and reasonable time of operation before obliteration by
overheating of windings or PM harm.

1.24.2 NON MAGNETIC MOTOR

An electrostatic motor is in view of the fascination and shock of electric charge.
Generally, electrostatic motors are the double of traditional loop based motors. They
ordinarily oblige a high voltage power supply, albeit little motors utilize lower voltages.
Traditional electric motors rather utilize attractive fascination and aversion, and oblige
high level current at the low level voltage. In year 1750s, first electrostatical motors were
produced by the scientist Benjamin Franklin & Andrew Gordon. Today electrostatic
motor discovers for regular use in small scale electro-mechanical frameworks (MEMS)
where their drive voltages are underneath 100 V, where moving and the charged plates
are far simpler to create than loops and iron centers [5].
Likewise, the sub-atomic apparatus which runs living cells is regularly taking into
account straight and rotational electrostatic motors machine.
Piezoelectric motor is a sort of electric motor based upon the adjustment fit as a fiddle of
piezoelectric material as soon as the electric-field is connected. Piezoelectric motors
make utilization of the opposite piezoelectric impact whereby material produces
ultrasonic vibrations or acoustic with a specific end goal to deliver a Linear or rotational
movement. In one instrument, the lengthening in a solitary plane is utilized to make an
arrangement extends and position holds, like the way a caterpillar moves [3].
An electrically controlled speed apparatus drive framework utilizes electric motor
innovation to move rocket in speed, most frameworks being in light of electrically
driving force to high velocity, with a few frameworks being in view of electrodynamics
ties standards of impetus to the magnetosphere [2].

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CHAPTER 2
LITERATURE SURVEY AND EVALUATION
[Bindu R, et-al 2012]The wide use of the DC Servomotors in several servomechanisms
makes the study of positioning control of DC Servomotors very significant. The transient
response of the motors is of very much importance and this can be even improved by the
use of the PID controllers. Some approximate initial values but workable are obtained by
such designed tuning methods these days, and then to end up with certain specific needs
and requirements these values are optimized. For some chosen system specifications, a
very quick and flexible method for determination of the optimized parameters of PID
controller has been presented within this paper based on genetic algorithm. Quite a
number of specifications are met when simulated, using the proposed method of the
tuning [1].
When the PID tuning was carried out based on the genetic algorithm, the results obtained
were far better than those obtained from the conventional ways of tuning. PID tuning
values that can be obtained by making use of the conventional ways and methods
provides good starting values but these values needed to be improved. Gain of the PID

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controller is fully related to the initial population of the range thus selected. The response
was found to be quite satisfying and was around the required when the well-designed GA
tuned PID controller was put into action. Tuning was observed to be well-versed and
effective when, KI in the range of 0.001 to 0.55, while KP was between 10 to 30 and KD
was within 0.001-0.5. if the initial population is increased, generations required for
converging to some optimum value may be increased but the added advantage will be the
broader range of requirements may be dealt with [2].
[MehmatAkar,et-al 2007 ] DC Servomotors Control of speed under study. The angular
velocity was controlled by the 3 separate motion controllers and mathematical model and
relations were formed. A model was simulated in the Matlab under variable working
conditions and adaptive neuro fuzzy interference, proportional-integral and fuzzy
interference system controllers respectively were implemented. Minimum influence on
system stability, quickly settling reference values and no overshoot is expected from
servomotor applications [3].
[Sanjay Sing, et-al 2012] 5Nm variable load was executed in this study to DC
servomotor, which has been used as a model with some reference speed. In case of the
3Nm load, 0.4 seconds overshoot was observed as response of system even when PI
controller was at stabilized position. But the response of the fuzzy and andfis controllers
under the same working conditions was observed to be somewhat different. The settling
time for anfis controller was 0.33 seconds and for fuzzy controllers it was 0.38 seconds.
Anfis controller displayed a very different and better response when load moment was
increased to 5Nm on shaft of the motor of the DC servo motor for variable velocity [4].
For the same very working conditions the current response for all of the 3 controllers was
quite reasonable. Owing to the learning characteristic of error, the anfis controller
displayed even better performance as compared to other two of the controllers under
variable velocity and load. Where, anfis and fuzzy controllers exhibit almost the same
response because of the limit of current. PI controller was put under study for the DC
servomotor and simulations were allowed to run onto it. Simulations provided very
favorable results as the gain of the controller was to be manipulated to obtain error
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responses as low as possible. Approximate zero overshoot and minimal stabilizing time
were the results, which were obtained and are quite a significant step forward to
improved designs [5].
[Ahmed M.A. Haidar 2013]Advanced Electromechanical Engineering has taken a step to
new horizons of engineering with the addition of full auto control of the rotation angle of
DC servo motors. It has been very common now days to control the processing of the DC
servo motor with the help of personal computer. And such controllers are also available
that connect the PC and motor so that they can interact to each other without any external
intervention. PIC microcontrollers were taken into action during the test in this paper
along with Graphical User Interface provided by the Matlab and the angle of rotation of
the DC servo motor was traced. Controllers were tested on real time application basis,
Proteus was the software that was incorporated for the simulation linked with Matlab.
Slider movement was considered to be the input signal to microcontroller for altering the
angle of rotation. Obtained results were quite favourable and the results deduced from the
test was the PIC microcontroller working alone with the GUI in software (Matlab) was
big step forward to the rotational angle control [6].
GUI slider movement change was supposed to be the change in desired position of angle
of rotation, and microcontroller with GUI interaction with Matlab was controlling this
change. Test was carried out to check whether this supposition can really perform the way
it looks to be or not. Depending upon the regulated values, rotations of the servo motor
were controlled by the sliders. PC was not able to send signals enough to produce the
rotations actually desired, as these small signals form PC were responsible for signals not
capable enough from microcontrollers to produce the desired actual rotations. To fulfill
this deficiency, and to improve the accuracy of the real time processing an amplifier was
added. This paper proved to be a milestone, as it exhibited, real time control of the servo
motor angle of rotation may be obtained by interface of two different software [6].

[Ali Mohamed Yousef 2012] The designing of the controller for controlling DC servo
motor based on ISMC (Integral Sliding Mode Controller). Integral Sliding Mode
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Controllers design was created its model was put to analysis and evaluated for steady
state performance (zero error). Chattering arising from the discontinuous controllers is
actually the major disadvantage of SMC. Switched gains incorporated ISMCs are the
solution to this disadvantage. ISMC with switched gains was compared with the simple
PID controllers to verify the effectiveness of the supposed arrangement. And the results
depicted that such controllers are quite robust and provides high level of tracking. System
order reduction by one, and fast recovery from the disturbance matched, is ensured by
SM along with other features as discussed above [7].
Different controllers like SMC, PID and ISMC were taken in consideration for the
positioning control of the DC servo motor. SMC and ISMC were used with switched
gains to overcome the chattering problem of them. PID are most suitable in conditions
where there is less disturbance in the system. This kind of comparison was carried out to
find the performance and pros and cons of each of the controllers. In Case of SMC
controllers the settling time is longer and chattering problem is still to be dealt with.
When ISMC is used along with the switched gains the required position is obtained with
very much less settling time along with no steady state error and the chattering was also
vanished.
[G. Sudha, 2012] Fuzzy logic controller in this paper, was compared to the conventional
controllers in terms of time specification performance in positioning of DC motor. Direct
control method in position controlling was implemented to PID controller and fuzzy logic
controllers. Implementation of fuzzy logic PID controllers is actually the main reason of
this text. Positioning of the motor was dispensed to fuzzy logic. Datasheet was used to
obtain the motor parameters for real motor. Simulink Toolbox of Matlab was used to
develop a model for simulation and Fuzzy Control Toolbox was used to develop fuzzy
control to provide suitable response times while keeping in view the constraints of the
kind of motor we chose.Mamdani Minimum Inference engine was the one chosen for our
test. The response times obtained were quite appropriate [8].
Fuzzy based PID designed has a much faster response than that of traditional ones. Fuzzy
logic PID is much better designed when it comes to the peak value and
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settling time of the conventional method. Its evident that improved results are obtained
with the help of fuzzy PID controllers. Fuzzy PID control was implemented in this paper
for controlling the positioning of the DC motor.
[S. S. Patil, et-al] High-speed permanent magnet DC (PMDC) motor speed control
system implementation based on integrated fuzzy logic controller (IFLC) is the main
objective of this paper. Integrated fuzzy logic controller (IFLC) is intended to enhance the
performance of the other conventional controllers. Tests have been conducted with no
load and load conditions respectively for various input testing commands like triangle,
square and ramp etc. when the experimental setup was created and results were obtained,
it revealed that performance of IFLC is many folds better under the conditions as
mentioned above and this is quite evident in the graphical representation of results [9].
After careful observations, the conclusion was reached that IFL as well as FL exhibited
even better performance than conventional PID controllers for nonlinear inputs such as
square and step. On contrary ot it IFL and PID have succeeded in showing better
responses than that of FLC for linear inputs (triangular and sine). The difference
described above would be quite clear if the ramp input is observed as its raising part is
linear in nature and trailing portion is nonlinear. PID controllers displayed above average
response for the linear portion but not impressive response for the nonlinear portion.
While IFL showed outstanding response for the both of the cases.
[PhongsakPhakamach, 2009] The position control system of DC motor using the Fuzzy
Logic Sliding mode Model Following Control id discussed in this paper. This kind of
approach makes use of the variable structure system and integrator. For the eradication of
the steady state error due to ramp or step changes the integral control is presented here.
This also assists in control precision improvement. On the other hand the disturbances
and parameter variations are controlled by the fuzzy control logic [10]. This technique
was incorporated for position control of the DC servomotors. FLSMFC incorporated
systems showed reduced sensitivity to parameter variations and disturbances, along with
the up told advantages the chattering is also eliminated.

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A different but quite inspiring configuration of the FLSMFC has been introduced in this
paper for position controlling of the dc motor servo drive. It has been noted that the
FLSMFC approach makes it possible that tracking performance may be improved to
about 85% and 75% as when compared to the IVSMFC and MIVSC approaches,
respectively. On expense of wide plant parameter variations and external load
disturbances accurate position tracking may be achieved as demonstrated by experimental
outcomes. This approach is fairly robust so it is quite suitable for electrical machine
control system. For this reason it is expected that this FLSMFC approach can be applied
to some very high performance application like industrial scale motors and machine tools
[Mrs. A. A. Thorat, 2013] A perception of fuzzy logic controller to reach some specific
speed control of DC motor has been presented in this paper. Fuzzy logic is very
interesting logic where numerical variables are just replaced by the linguistics. This
linguistic variable used in fuzzy logic controllers is based on some control rules known as
fuzzy rules. Any of the speed profile may be selected by incorporating fuzzy packages
provided by the Personal computers (PCs). Fuzzy controller that has been proposed has
performance better than simple fuzzy controller. The whole process is based onto to
major fragments, software development and the other one is hardware implementation.
When we see into the hardware portion, H-bridge DC Motor driver is to be designed and
evolved. H-bridge DC Motor thus designed, may be used as a liaison between DC motor
and fuzzy controller based on microprocessor technology. Two type of convertors will be
used to provide actual speed signal from rotary tachometer, there convertors include an
analogue to digital converter (ADC) and a frequency to voltage convertor (FVC) and
these are to be used input for fuzzy controller. The other fragment was the software
evolvement. Varying pulse width for DC motor application a digital fuzzy logic speed
controller may be developed. This paper in short represents that fuzzy logic controller can
be evolved for DC motors [11].
DC motors are widely used these days in a number of applications now-a-days .Varying
in size and shape they are found in robotic mechanisms, rolling mills, home electrical
appliances and many other applications found in our daily life. These types of
applications require some kind of speed controllers which may assist DC motors in jobs
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like those as described above. For this reason DC motor speed controller system based on
fuzzy logic using microcontrollers was designed. The systems such designed is real time
closed loop control system, capable of retaining the required speed even when the load
changes. Matlab was the software used for carrying out the comprehensive analysis of
DC motor drive system making use of the fuzzy logic controller. Speed becomes constant
at 0.6sec for the open loop system, and can be verified from the speed wave form. On the
other hand, for the fuzzy PI the constant speed is obtained at 0.1 sec and smooth control
over speed is obtained without any oscillations and even the overshoot is small.
A high level programming language used for programming of the microcontroller called
Mikro C was used to create the fuzzy logic control algorithm. The problems arising in the
C-structured programming may be overcome if the embedded C language has been used
for programming the microcontrollers. Compilation will be done in the memory system
and the fuzzy logic algorithm will be done in it. For driving the DC driver a valid PWM
signal will be generated by fuzzy controller. Real time processing and debugging will be
enabled when PIC microcontroller will be acting between DC speed drive and DC motor
[11].
[Makiko Kobayashi, et-al, 2006] presenting the Thick-film (90 m) piezoelectric ceramic
increased temperature ultrasonic transducers (HTUTs) have been well placed and
deposited on the metallic compounds through the sol-gel spray method. Normally the gel
is made up of the fine powders of the bismuth titan ate speeded in the leadzircon ate
titan ate combination and the solution. It has been recorded that the films possessing the
required thickness are gotten following the multilayer coating technique. Normally the
Piezoelectricity is obtained through the corona discharge poling technique. It is evident
that the center frequencies within the ultrasonic network produced through the HTUTs
are approximately 10 MHz and in relation to the network -to-noise ratio (SNR) is greater
than the 30 dB in the pulse-echo mode at the 500 C. basic merit of the modern HTUTs
shows that they are usable in the temperature greater than 500 C, they are also very rare
and lastly they can be combined together on the flat and the curved surfaces. They at the
same time does not require ultrasonic coolant, they can at the same time be handled at
every reduced and moderate megahertz frequency value range with adequate frequency
bandwidth, and the last merit is that they posses adequate piezoelectric strength and the
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SNR. Main role of the HTUTs to actually regulate the polymer injection molding method
in the real-time at the present mold insert of the machine is illustration. Normally the
polymer behavior within the mold cavity was regulated through the differentHTUTs
sensor inserts a joined in the mold inserts at various locations. The Mold inserts are
majorly applied by the injection molders, in the particular, for the multi-cavity molding
processes. The Utilization Of the sensor inserts in the mold insert enhances us to account
for the monitor Of the injection process through the molds of different sizes. Normally
the materialUsed was the injection grade polycarbonate and the molded Section with
rectangular shape. The Flow front from the arrival and the median flow front velocity of
the polymer within the mold cavity wasobtained through the amplitude variation of the
echo reflectedfrom the below of the HTUT sensor placement. At the same time the echo
wasapplied to realize the time of the gap opening of the present mold. Normally the
amplitude and the phase changes of the echoes generating within the molded part was
applied to realize the part ejection andto basically monitor the filling extreme completion
of the present mold cavity through the polymer. It was recorded that the amplitude of the
present echoes was very sensitive to the section attached from the mold to enhance the
incomplete part with fillingrate of a specified percentage to be realized. Normally the
formation of the solid is regulated just to check the molded part was done through
measuring the ultrasonicvelocity and the attenuation in the molded section through the
use of differentechoes generating in the part. It was recorded that the variation of the
ultrasonicvelocity and the attenuation were showing the material characteristics of the
part, like the elastic constants, the viscosity and the density, on the solid formation [19].
[HuailinShu ,et-al,2007] Presets the characteristic of the temperature control injection
molding machine by use of PIDNN. In this paper simulation results are showing the
results for three stage injection molding machine. That is give the point that PIS neural
network is giving the best response time and setting point for the three stage injection
molding machine . PIDNN have three hidden layers P-neutrons, I neurons and D
neurons .PIDNN is using for dynamic multilayer network [28].

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[Tao liu, et-al, 2009] presenting the practical barrel-temperature regulator of the injection
molding, the study aspect suggests two identification technique and the united regulator
scheme for multipurpose temperature regulation design. Relating to the unity step action
relating to the full heating action in the temperature-regulation system, an identification
technique is generated to gain an integrating type for the heating-up regulation design.
Through application of relay technique around the set-point temperature, different
identification technique is suggested to bet the type of stable and the integrating model
for regulation system design to reject the load interference during the system operation.
Enhancing identification the robustness, the de-noising plans are to be presented for the
practical uses with the dimensions noise. Actually to enhance
Simplicity for the suggested action, a combined regulator scheme depending on the
internal-model-regulator structure is then suggested for the heating-up and the steady
actions against the load interference. The suggested Analytical regulator-design
techniques and the tuning structures for the rules are relating designed for the quantitative
regulation of the present heating-up action and the load-interference action for the
operation. Normally the current literature and the practical use for the injection molding
are done to illustrate the effectiveness and the advantage of the suggested identification
technique and regulatory scheme. In the temperature-control design a method of
identification relying on the step response has been chosen for obtaining the model of
heating-up, together with another identification method that is based on a relay test which
is done around the set-point temperature and also given forgetting the model that is of
stable or even integrating type for rejection of load-disturbance.all the identification
methods can bring about good robustness towards noise that is measurable. based on the
IMC structure, a united control scheme has been proposed for both the heating-up and the
load-disturbance rejection in stable state because this is capable of lack of overheating in
the heating-up process. the formulas of Analytical controller-design and the
quantitativetuning guidelines have been provided for the employment of the required
heating-up response together with the load-disturbance response plus

robust tuning

constraints so as to accommodate some uncertainties processes. In its application to the

control of the barrel-temperature, an injection-molding machine has demonstrated very
well the proposed identification methods and control scheme effectiveness [4].
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[SeyedKamaleddinMousaviMashhadi, et-al, 2013] Presents the fuzzy logic controller

to temperature of injection molding machine .Firstly, time delay is introducing for the
temperature control system. System is design as a linear fuzzy controller for control the
temperature of injection molding machine .A system of time delay is used for temperature
control. The controller and decision maker are design using fuzzy logic [29].

2.1 Issue: Error find in injection molding machine

[Chris m. seaman, et-al, 1994] presenting a wide knowledge that the PID regulator has
been very successful in the past and also widely accepted for the control of the industrial
systems where performance criterion is one of the objective function. Therefore, the task
is whether the same success can be achieved in PID controller for more than one
objective function, while preserving its operator use simplicity. Therefore here we
explore multi-objective optimization use so as to extend PID controllers to applications
requiring multiple objectives optimization. The implementation of An algorithm that runs
in real-time and provides immediate feedback to a process operator of the immediate
point of operation. Its application was to the tuning of a PID controller phase of an
injection molding process. Through an injection molding machine the algorithm was
implemented and allowed via on line to tune the controller. The presentation and
comparison ofSimulation and experimental results is below:

Therefore, this algorithm was then applied to the tuning of a PID controller hence

meeting two objective criteria for the injection molding plastication phase.
Therefore the multi-objective optimization algorithm was applied in tuning a PID
controller for a process empirical model. Here, the process was run for one cycle
and the Data collected during this cycle was applied by the algorithm to find a

Pareto optimal operating point with reliance to two objective functions here.
Here therefore When a Pareto optimal operating point was obtained, in deciding if
this operating point is desirable the operator was used. So as to determine if other
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points should be examined. Finally, a curve that is tradeoff between the two
objectives while also corresponding gains being controlled was realized. In the
repetition of this process and the algorithm allowed in tuning on line the PID

controller.
Therefore, In general this was the expectation from the algorithm. Many
improvement avenues can be explored although the largest area relates to
choosing the step size of the parameter whenever generating the gradient ideas

and conducting the line search experiments.

Here therefore, the algorithm depends on the decision makers feel for the
process. The estimation of The gradient is by fitting a linear model to the
experimental data so that The accuracy to this estimate is a function of noise in
the signal measurement together with the dominance of second-order
geographical features of the explored response surface. todetermine an index of
the confidence that the algorithm and experimenter have in the mode an F ratio
test is used. Also, in conducting the line search, movement of the operating point
from the region holding the gradient maintains. The use of Zero hypothesis
testing in continually updating the current gradients viability. Here also, a very
simple and a conservative line search was employed. Incorporate measures of the
second-order effects in increasing the efficiency of this search using the available
information [5].

2.2 Issue: Processing time of injection molding machine

[Makiko Kobayashi, et-al, 2006] presenting the Thick-film (90 m) piezoelectric ceramic
increased temperature ultrasonic transducers (HTUTs) have been well placed and
deposited on the metallic compounds through the sol-gel spray method. Normally the gel
is made up of the fine powders of the bismuth titan ate speeded in the leadzircon ate
titan ate combination and the solution. It has been recorded that the films possessing the
required thickness are gotten following the multilayer coating technique. Normally the
Piezoelectricity is obtained through the corona discharge poling technique. It is evident
that the center frequencies within the ultrasonic network produced through the HTUTs
are approximately 10 MHz and in relation to the network -to-noise ratio (SNR) is greater
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than the 30 dB in the pulse-echo mode at the 500 C. basic merit of the modern HTUTs
shows that they are usable in the temperature greater than 500 C, they are also very rare
and lastly they can be combined together on the flat and the curved surfaces. They at the
same time does not require ultrasonic coolant, they can at the same time be handled at
every reduced and moderate megahertz frequency value range with adequate frequency
bandwidth, and the last merit is that they posses adequate piezoelectric strength and the
SNR. Main role of the HTUTs to actually regulate the polymer injection molding method
in the real-time at the present mold insert of the machine is illustration. Normally the
polymer behavior within the mold cavity was regulated through the differentHTUTs
sensor inserts a joined in the mold inserts at various locations. The Mold inserts are
majorly applied by the injection molders, in the particular, for the multi-cavity molding
processes. The Utilization Of the sensor inserts in the mold insert enhances us to account
for the monitor Of the injection process through the molds of different sizes. Normally
the materialUsed was the injection grade polycarbonate and the molded Section with
rectangular shape. The Flow front from the arrival and the median flow front velocity of
the polymer within the mold cavity wasobtained through the amplitude variation of the
echo reflectedfrom the below of the HTUT sensor placement. At the same time the echo
wasapplied to realize the time of the gap opening of the present mold. Normally the
amplitude and the phase changes of the echoes generating within the molded part was
applied to realize the part ejection andto basically monitor the filling extreme completion
of the present mold cavity through the polymer. It was recorded that the amplitude of the
present echoes was very sensitive to the section attached from the mold to enhance the
incomplete part with fillingrate of a specified percentage to be realized. Normally the
formation of the solid is regulated just to check the molded part was done through
measuring the ultrasonicvelocity and the attenuation in the molded section through the
use of differentechoes generating in the part. It was recorded that the variation of the
ultrasonicvelocity and the attenuation were showing the material characteristics of the
part, like the elastic constants, the viscosity and the density, on the solid formation [19].
[Thomas C Chen,1999] presentingcomputing and the system design of recent custom
designed control systems usually allows for the possibility of the application of modern
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control theory towards the injection molding machines in achieving new standards of
performance without employing expensive or even special purpose equipments.
Therefore The new control lines from the Van Dorn Damage Corporation applies digital
filters use, the state transition logic, also the high order temperature state control in
controlling more accurately the molding machine processes in use. Here The use of
digital filters plus the state transition logic lowers the controller response time period
hence improving the cycle-to-cycle repeatability it also forecasts the future positions of
the molding machine clamp in the application of clamp braking process. Here also The
temperature state control system applies the real h e mathematical modeling of the barrel
together with tracking of estimated thermal disturbances to better control the temperature
of the barrel. Also these techniques are used in a variety of injection molding machine
models and sizes and can be performed in a way making the programming and operation
of the machines not difficult as compared to traditional methods application.
In applying the modern control theory together with the software engineering techniques
on the custom hardware and the platforms for the control of machines used in injection
molding, some considerable advances in the machine performance can occur. The
enhancements of this performance may result in plastic products of higher quality also
quicker and then safer machine molding operation. These methods that are described in
this paper indicate only the start of the modern control theory capabilities. In involving
the knowledge of the process that is controlled into the control system being made, better
control is possible here then. whilemore is learned about the process of injection molding,
within the control system, this information may be included [6].
[B Ribeiro, 1999] presenting the Neural networks technology and it is used in this
system in a way that the first step for fault detection in the injection molding process. The
next step is for implement the system for automatic tuning of machine setups.
There are two main merits (i) high process consistency and (ii) cost effective due to
reduction in production costs are useful to achieve the goal of proposed work [15].

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[Dr. Shereen F. Abd. Alkarim, 2007]In the following paper the application and designing
of the controller based upon the fuzzly logic for DC servo motor will be studied. The
main objective of this paper is to enhance the capabilities of the simple controller by
incorporating the fuzzy rules, using a fuzzy logic controller with load changes of motor.
The conclusion of the simulations made it clear the fuzzy logic controller was more
effectively controlling the position of the DC servomotor as compared to the old
conventional controller available in the market [12].
The study of the fuzzy based controller for the DC servomotor was carried out. Its
outcome was compared to that of the controllers available normally in the market.
Simulations were run and the compared to the performance of the conventional ones and
the results indicated that fuzzy logic controllers proved to provide superior performance
as compared to the ones they have been compared with.
[SulochanaWadhwani, 20013 ] The primary goal of this paper was to analyze and study
the use of the two evolutionary computation techniques for optimized tuning of PID
controller parameters and compute their advantages over the other techniques. These
techniques include Swarm Optimization (PSO) &Genetic Algorithm (GA). Both of these
methodologies were implemented for developing a position controller of a DC
servomotor on third order plant model. The results of Ziegler Nichols method were
compared with those obtained from the GA and PSO techniques. It clearly showed that
these techniques produced results which were a hand more useful than those for
traditionally tuned PID controllers [13].
Evolutionary computation techniques were applied to PID controllers being tuned to
control the positioning control of the DC Servomotors. Zeigler-Nicholss tuning method
for achieving minimum rise Time was completed outperformed by the GA tuned PID
controllers and PSO tuned PID controllers. The same was observed for overshoot and
steady state (zero error). Moreover it was observed that PSO based PID controllers were
even more accurate and their performance was ab it better than the GA tuned PID
controllers. PSO based PID controllers proved to be more advantageous than GA tuned
PID controllers in the prevailing conditions when the test was carried out.

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[M. Gunalan, 2014 ]The DC servomotors are used worldwide in automated industry.
Surface mount technology placement machines were based upon the effectiveness
provided by the DC servomotors. This machine can place the different components on the
PCBs (Printed Circuit Boards) in a very fast manner. The DC servomotors and controllers
for it, have increasingly been becomes one of the most favorite area of the researchers
around the world. No doubt PID controllers have proved to be a helping hand when
dealing with DC servomotors but the main problem which arises is that there is no such
efficient and effective method is available for tuning them to perform the task assigned to
them with precision. The main stress of this paper would be on generating an Met
heuristic Algorithm, more specifically Weight Particle Swarm Optimization (iw-PSO)
algorithm which may enhance the performance of it PID tuning to many folds as
compared to that obtained from the conventional controllers. The results which were
received were well, and iw-PSO-PID performed good along with it the overshoot was
really reduced. The quicker response and controlling of convergence was also an added
advantage.
The main reason of this paper was to discuss and observe the response of the controllers
designed for the servomotors. The iw-PSO-PID,, c-PID and conventional controllers
were put under observation and their comparative results were pondered upon. Iw-PSOPID performed in a better way as compared with the c-PID [14].
[A. HarshaVardhan, 2013]This paper actually demonstrates about controlling the
position of DC motor via fuzzy PID controller to end up on the required point. The most
commonly used controller is PID controller; such controllers are easily available in
market. The master advantage of using he PID controller is its easier to tune and quite
robust which makes it possible to be used in the industrial setup where harsh
environments exists. Ziegler-Nicholas (ZN) methodology has been adapted in this paper
for controlling the position of the DC motor using PID controllers. Fuzzy logic
controllers are helpful when PID controllers find the system model not to be exact. Fuzzy
logic is somewhat very interesting kind of logic in which numerical variables are just
eliminated and are replaced by the linguistic variables. Many of the researchers
worldwide are working and taking keen interest in the field of intelligent control systems.
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Such system got quite much resemblance with artificial intelligence, so for designing and
creating such system many of the concepts should be derived from there. Simulations
were allowed to run for results of PID controllers and implementation of fuzzy PID
controllers [15].
Fuzzy PID controller and PID controllers were compared in this paper for controlling the
position of DC motors. Results of simulations were gathered using Matlab and
performance of the fizzy PID controllers were compared with Ziegler-Nicholas tuned PID
controllers. These controllers track the changes in the position of the DC motor. The open
loop Z-N tuning rules were exercised for developing the PID controller set point. Relay
feedback test was used to obtain closed loop parameters of Z-N tuning rules. Fizzy
controller (fuzzy PID controller) was used trace the change in position of DC motor and
the software used for this purpose was Simulink/Matlab. Its quite evident form the
simulation results that stability of time domain performance was enhanced through the
fuzzy PID control methodology.
[Rahul Malhotra, et-al, 2010]Many of the techniques of the artificial intelligence were
used to extract the mathematical model of DC motor speed controlling. Evaluation of
optimum speed of motor is quite difficult due to nonlinear and multivariable nature of the
relation. Overshoot problem is in conventional PI controller is its major drawback. This
problem may be overcome by indulging the methods and concepts of artificial
intelligence. In this paper the fuzzy logic controlled model was created and was
optimized by incorporating genetic algorithm.For the controlling the speed of the servo
motor the digital processor for signal TMS320LF2407A having steady state feedback,
transient time and performance curve IAE and ITEA for the above mentioned controllers
have been examined. From the results obtained conclude that FLC-GA hybridsation has
more effectiveness and efficiency as compare to conventional PI model and FLC for
controlling the speed of motor it is due the fact that fuzzy logic-GA built in approach has
minimum transient and overshoot and parameters are steady in that case [16].
Now armature controlled DC motor study which is a process control. Using fuzzy based
MCU and electronic signal processor the speed of the DC motor control and embedded
speed control techniques are discussed. Mathematical model is designed first and
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conventional PI controller is executed in it. It is observed that PI controller gives high

overshoot and settling time. So the use of artificial intelligence techniques has been
proposed and implemented in the controller design. After this fuzzy logic control is
implemented, and using genetic algorithm its step response is optimized. The results
shows the fuzzy logic control using genetic algorithm has given better response and
optimization than conventional PI controller [16].
[Shaymas A. Mahdi, 2014]Servo motors have found their application in various
commercial and industrial electronics devices. They have a good speed control feature;
however their maintenance cost is more than induction motor. The paper discuss genetic
algorithm for non-linear electromechanical actuator for determining the best factors of
the PID controller for improving system transient response. Peak time, rise time, settling
time and overshot response are the design parameters which were optimized. Simulation
is performed and results shows that genetic algorithm is flexible and fast tuning technique
in obtaining the optimal PID controller design for wide range of outputs in achieving
satisfactory and stable system performance. It is observed that applying Genetic
Algorithm in PID controller, while maintaining rise time, delay time and peak nearly
constant, enhances transient response and reduces average percent overshoot by 80% as
compared to conventional methods like optimum fuzzy supervisory PID. It also helps in
improving settling time. The use of genetic algorithm in PID controller gives better
results as compared to conventional methods [17].
Conventional techniques give good starting values of the PID tuning.Tuning of the
designed PID controller with the help of genetic algorithm shows the actual response
satisfactory with the required value. The gain of PID controller depends upon the initial
population selected range. The required output can be broadened by increasing initial
population range but time taken for convergence to optimal position by simulator
increases as number of generations for convergence increases.

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CHAPTER 3
PROBLEM STATEMENT
When the PID tuning was carried out based on the genetic algorithm, the results obtained
were far better than those obtained from the conventional ways of tuning. PID tuning
values that can be obtained by making use of the conventional ways and methods
provides good starting values but these values needed to be improved. Gain of the PID
controller is fully related to the initial population of the range thus selected. The response
was found to be quite satisfying and was around the required when the well-designed GA
tuned PID controller was put into action. Tuning was observed to be well-versed and
effective when, KI in the range of 0.001 to 0.55, while KP was between 10 to 30 and K D
was within 0.001-0.5 .If the initial population is increased, generations required for
converging to some optimum value may be increased but the added advantage will be the
broader range of requirements may be dealt with.
Mathematical relationship between the input voltage and angular position the shaft of the
DC motor may be derived using the laws of physics. DC Servo motor in case of point of
control system can be assumed to be SISO plant .Thus all the complications and
impediment which have anything to do with multi-input system are just eradicated. Field
coils in DC servo motors are exactly parallel with the armature. Armature current and
field coil current are not dependent on each other.

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Figure 3.1:- Schematic Diagram of A DC Servo Motor

Ea ( s )=R a I a ( s )+ L a s I a ( s ) + E b ( s )
T m ( s ) =K t I a ( s )

Eb ( s )=K b s ( s )

T m ( s ) =( J m s2 +Dm s) ( s )

Figure 3.2:- Block Diagram Representation of A Dc Servo Motor

For implementation of DC Servomotor the following parameters are considered [3]

Ra=2.45 ohm, La=0.035 H, Kb=1.2 volt/ (rad/sec), J=0.022Kg-m2/rad, B=0.5*10-3 N-m/
(rad/sec).

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3.1 ACQUIRED ALGORITHM

The primary goal of the Genetic algorithm (GA) is to find the most suitable and
optimized solution of the problem. The genetic algorithm as in is based upon an
assortment of solutions possible for the presented problem. And As this term Genetic is
taken from biological sciences, another term is taken from its reference and its
population. The assortment of the other alternative possible solutions to the chosen
problem is known to be population. Any on solution of this assortment, or individual of
population is called chromosome [1]. And the individual singular character in this
chromosome is called genes. To reach more precise possible solution than the one
obtained earlier, a new iteration is to be carried out and the evolution of the new
generation in each of the next iteration of GA takes place. Fraction of the individuals
present in the population which are to be substituted in one generation to the next and so
on is known to be generation gap. Upon this basis, the GA approach has been further
classified into two categories.

Conventional GA
Steady State Algorithm GA

In case of the conventional GA, the generation gap is equal to 1 while when we deal with
other category the generation gap is less than 1.A number of steps is involved in the
generation of a new population. First of all, each individual of the populations is needed
to be evaluated according to a user defined fitness fraction, which is exactly opposite to
the error function. Extremely fit individuals of them are selected out of the population for
reproduction case. Individuals thus selected formulate a pair known as parents. Operation
for reproduction is mutation and crossover. Discussing of the crossover first, some
fragments of two of the parents are just united to produce two new individuals which are
called offspring. Chromosomes are provided a mechanism through this way, for
combining and matching their respective desirable attributes in creating offspring.
Crossover is executed according to a crossover probability Pc, which is applicable on
each and every pair of parents. Mutation is responsible for creation of new features as
required into the following population. Random changes are produced in the offspring
with a specific factor, called mutation probability (Pm). The entire solution space can be
searched by the crossover operation, which is the main operation for looking for into the
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solution space. But its not sure that the whole of the solution space may be reachable by
a finite population size. The search space may be refined by launching new genes into the
populations. As we move on with crossover and mutation but there still increases a risk
that optimum solution may get lost, as there no assurance that these operators will
conserve the best available string. A mechanism is used to turndown this problem. Best
possible individual present in a population is preserved into the next new population, is
used to turndown this problem. For enhancing the search process neighbours of good
solution are also involved. The advantage of this thing will result in finer tuning and even
fast and quicker convergence can achieved. In short, immense improvements in the
quality of the solution could be achieved by incorporating the up told scheme. In case of
the Genetic algorithm, the initial generation to start with can be chosen randomly or user
can define it. When the reproduction is complete and new generation will evolve, the
older ones would be replaced by this new generation. This process will keep on going
until it meets the halt criterion.
3.2 GA TUNED BY PID
The main objective of genetic algorithm is to find out the optimal values of PID
controller to optimize the system transient response. For this purpose genetic algorithm
considers the objective function maximization .The objective function delivers a means
for calculating the performance of the PID controller according to the determined gain
parameters, which allows any expert to design the optimized PID controller. Genes are
the gain parameters of the controller KP, KI, and KDwhen they are applied to the PID
controller. Every chromosome is composed of all the needed genes to complete the trial
solution. Fitness of each chromosome is determined using error principle, which then
decides the selection of chromosome for succeeding generation .GA used actual closed
loops and targeted poles for the optimization process. Closed loop poles are obtained in
every generation. With the help closed loop poles tuning algorithm determine the best
parameters for PID controller. The population size of 20 is use in this work and process is
terminated after 100 generations. Single point cross over method is used in the algorithm.
From average of the good solution we have determine the surrounding of the good
chromosomes.

For every generation, fitness function is used for the population

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evaluation. Fitness function can be taken as the inverse of error function. Error is
evaluated by comparison of actual and required location of closed loop pole.
It can be written as
ETs =error in settling time
ETD=error in peak time,
Eon and Eof = errors in the location of real poles.
In this, variables , , and represents the weight age factors.
Adjustment of these variables, in PID controller parameters can give us the required
value of closed loop response. After evaluating fitness, the fittest of the solutions are
selected which undergo the crossover process for getting offspring? Modification of any
random value can be done to get mutation. This induces a minor change in solution.
Using these imitation methods, for reproduction, the entire population is replaced by the
offspring, best solution and good solution neighbors. Keep on continue the process of
calculation, reproduction, for a number of generations until better solution is obtained.
The summary is as follows, Begin the population; while preset termination condition not
fulfilled;

Determine all these solutions with help of fitness function. It can be the inverse of

error function.
Highly fit solutions should be selected.
Combine them as parents and execute crossover operation to produce offspring.
Execute mutation by marginally changing some arbitrary solution.
Produce some solutions in the surroundings of good solutions by taking their

average.
Save best solution.
Replace all population with offspring, best solution and good solution neighbors.

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Figure 3.3:-Step Response of DC servo motor for the Uncompensated System and
Compensated System Using GA
The Figure 3.3 shows the step response of DC servo motor for the uncompensated system
and the compensated system, from figure the 1% overshoot, 0.25 sec. peak time and
0.336 sec settling time achieved.
The system is more stable by reducing the value of maximum overshoot and settling time
The system is fast stable when it achieved the steady state condition in minimum time
with minimum error.
The results obtain from PID Controller using Genetic Algorithm improved by using fuzzy
logic controller by reducing the settling time and overshoot.

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CHAPTER 4
PROPOSED METHODOLOGY
4.1 FUZZY LOGIC
Fuzzy logic is a kind of many-valued logic in which we deal with approximate values,
rather than exact and fixed reasoning. In binary logic we only deal with two value true
and false but in fuzzy logic we have a truth value which have a range between 0 and 1.
Fuzzy logic comes into usage where the truth value may vary between completely true
and completely false, that is to handle the partial truth. When linguistic variables come
into use, this range introduced by Lotfi A. Zadeh in 1965 as fuzzy set theory. Fuzzy logic
has many applications like in control theory and artificial intelligence. Since 1920 fuzzy
logic has been studied as infinite valued logic notably by Lukasiewics and Tarski.

Figure 4.1:-Fuzzy Logic

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Advanced the idea of fuzzy logic in 1960. He was working on problem related to natural
language understanding in computers. Natural language like many other life activities
cannot be translated into 0 and 1 easily. (It is debatable that we can describe everything in
terms of binary values but still in practice for computer to understand something between
two values we need to much data to be given which results in extensive computing.)In
fuzzy logic we deal with 0 and 1 as the extreme cases and also have number of in
between values as well. For example for the result comparison of between two things
big and small but 0.47 of smallness. Fuzzy logic working is like our brain. We
cumulate data and form various partial truths which we combine further into higher truths
which give certain results, when more refined, causes same kind of procedure is used in
artificial computer neural network and other sophisticated systems. It can be said that
fuzzy logic is actual way of reasoning working and Boolean or binary logic is its special
case.
4.2 RULES OF FUZZY LOGIC
Fuzzy logic rules are design according to given table number 1. In the design rules 7 are
inputs e rules condition and for de 7 rules condition are available by name of NU, NM,
NS, Z, PS, PM, PU .the range is decide according to figure 4.2 .Fuzzy logic is using for
improve the performance of the required response from the actual response. By
implement fuzzy logic rule we have been achieved the required response near about to
actual response.

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Figure 4.2:- Fuzzy Rule File for First Input (e)

According to Figure 4.2 first input e is a range of -1 to 1. It is showing the limit of first
input in fuzzy rule file. According to figure 4.3 second input de is a range of -1 to 1 & it
showing the limit of second input in fuzzy rule file

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Figure 4.3: - Fuzzy Rule File for Second Input (de)

Fuzzy logic rules give the better actual response with comparison of required response
for the DC motor. According the previous design the actual response was not touching to
required response graph. We have change some rules of proposed fuzzy logic rules file
according to table number 1.The proposed design are giving the result which is touching
the required response graph. According to design fuzzy logic rules file we have
conditions for NU, NM, NS, Z, PS, PM, PU. These are the conditions for the output.
The value of NU, NM, NS, Z, PS, PM, PU are given according to Table 4.1
1
2
3
4
5
6
7

NU
NM
NS
Z
PS
PM
PU

[-1.3 -1 -0.64]
[-1 -0.7 -0.34]
[-0.64 -0.36 0]
[-0.34 0 0.3]
[0 0.36 0.64]
[0.36 0.7 1]
[0.64 1 1.3]

Table 4.1:- The Value of NU, NM, NS, Z, PS, PM, PU

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Figure 4.4:- Output Fuzzy Logic Rules Waveform

The figure 4.4 shows output rules in fuzzy rules file. The range is from -1 to 1 .The value
of output is selected according to value of inputs. The output rule file has 7 values from
NU, NM, NS, Z, PS, PM, PU. For Example the output is selected NU when the both
inputs e and de is NU
NU

NM

NS

PS

PM

PU

NU

NU

NU

NU

NM

NM

NS

NM

NU

NU

NM

NM

NS

PS

NS

NU

NM

NM

NS

PS

PS

NM

NS

NS

PS

PS

PM

PS

NS

NS

PS

PS

PM

PU

PM

NS

PS

PM

PM

PU

PU

PU

PS

PM

PM

PU

PU

PU

Table 4.2:- Fuzzy Logic Rule File

Table 4.3 is showing the values of input and output. There are two inputs and one output.
Table is showing the input and output values for the design machine.

Input e

Input DE

Control

0.00667

0.183

0.227

0.18

0.349

0.227

0.331

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0.477

0.827

0.725

-0.734

0.827

0.0591

-0.734

-0.645

-0.884

Table 4.3:- Values of Input and Output

4.3 SURFACE VIEW: The figure 4.5, 4.6, 4.7 and 4.8 shows the surface view of fuzzy
logic rules

Figure 4.5:- Surface View in Three Dimensions(X, Y,Z)

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Figure 4.6:-Surface View in Two Dimensions (X, Y)

Figure 4.7:-Surface View in Two Dimensions (X, Z)

Figure 4.8:-Surface View in Two Dimensions (Y, Z)

4.4 SIMULATION MODE:

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Figure 4.9:- Design Model of Proposed Design

Figure 4.9 is showing the proposed model for DC motor based design. In this we use
fuzzy logic two times. One time for the actual response with compensation and Second
time without compensation for the required response. For design the Gain of 1/100 we
take the gain model from the simulink model. Give the values according to the table
number 4.3.
The value of input step in design model is starting from 0 to 20 and step size 1.

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The value of derivative constant KD is 0.18 and the value of proportional constant KP is
100

Gain

Sample time

1/100

-1

Table 4.4:- Gain and Sample Time For 1/100 Gain Block
As the table number 4.4, we will also design the gain block for the 0.18. For design the
0.18 gain box we will give the value of 0.18 and sample time is -1. The saturation point is
defined by the upper limit and lower limit. Upper limit is 1 and lower limit is -1 and the
sample is -1. Forgive the constant of 100 we use a gain box in which we give the value of
100 with sample of -1.

Fi
gure 4.10:- Block Diagram for DC Servo Motor

For design the block of

1
La . s + Ra

take a block of gain the values of numerator

coefficient is 1, Denominator coefficient [La Ra], absolute tolerance auto. For design the

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gain Kt take the sample rate -1. Next block is for

1
J .s+B

take a block of gain the

values of numerator coefficient is 1, Denominator coefficient [J B] ,absolute tolerance

auto . For design the gain Kb sample time is -1.

CHAPTER 5
SIMULATION RESULTS
Figure 5.1 & Figure 5.2 showing the step response for the DC servo motor without
Compensation .The graph is starting form 0 to 2 .In this range it is showing the linear
form .The peak value is 2 , maximum % overshoot is 0 and settling time is near 0.06 sec

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Figure 5.1 and

5.2 :- The Step Response For The DC Servo Motor Without

Compensation
Figure 5.3 & Figure 5.4 showing the step response for the DC servo motor with
Compensation .The graph is starting form 0 to 2 .In this range it is showing the linear
form .The peak value is 2.0215 , maximum % overshoot is 2.15, peak time is .04 sec and
settling time is near 0.05 sec

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Figure 5.3 and 5.4:- The Step Response For The DC Servo Motor With
Compensation
Figure 5.5 and 5.6 is showing the comparison of The Step Response For The DC Servo
Motor Without Compensation , with compensation and step response According the
graph it is showing that our requinred response is touching to actual response that means
it is better then the PID controller .

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Fig 5.5 and 5.6:- Comparison of The Step Response for The DC Servo Motor
Without Compensation , With Compensation and Step Response

CHAPTER 6
CONCLUSION & FUTURE SCOPE
The DC Servo Motors has top position in various servomechanisms. It is important to
study DC Servo motor along with its position control study. The simulation results shows
Fuzzy logic satisfied with wide range of requirement with compared to the tuning
method. Instead of PID controller (GA based) the block Fuzzy logic is used.GA based
PID controller has slower steady state response along less undershoot / overshoot during
transition phase as compare to Fuzzy PID controller. Fuzzy logic is using for improve the
performance of the required response from the actual response. By implement fuzzy logic
rule we have been achieved the required response near about to actual response. Fuzzy
logic is improving the results of actual response to required response .In the previous
work required response is not touching the graph of actual response.

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The step response for the DC servo motor with Compensation ,the graph is starting form
0 to 2 .In this range it is showing the linear form .The peak value is 2.0215 , maximum %
overshoot is 2.15 and settling time is near 0.05 sec
The step response for the DC servo motor without Compensation,the graph is starting
form 0 to 2 .In this range it is showing the linear form .The peak value is 2 , maximum %
overshoot is 0 and settling time is near 0.06 sec
So the ouput step response of DC servo motor using Fuzzy logic touch the step response
of input in minimum time with minimum error.so we improve the performnace by
incresing speed,reducing error and minimize the settling time of DC servo motor.
In the future we can improve the performance of dc servomotor by reducing the
Maximum Overshoot & Settling time. As we get from the graph the output is touching to
the step response but it is touching just only one time. It may be contact at the step
response graph. So in future by apply neural network or other technique we can improve
the performance of DC Servomotor.

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