B.

Sc

:

DC "

.033772260: . :
.61005294: .
:
"
_________________

'
_________________

1
DC "
: :" ,'
Holon Academic Institute of Technology

Final B.S.c Degree Project

Electrical and Electronic Engineering

The Subject:
Development and building speed control system
for DC motor by changing the resistance of the
add. resistor

Implementers : Tomer Tabrisi I.D. 033772260

Eli Shaked I.D. 61005294

Academic Mentor : Dr Boris Axelrod

Academic Mentor Signature__________

Academic Mentor Engineer Igor Samkovski

Academic Mentor Signature__________

2
" DC
: ' , " :


8............................................................................................................................

1 8.........................................................................................................
1.1 9..................................................................................... DC

1.2 DC 10.......................................................................

10............................................................ 1.2.1
11.............................................................................. DC 1.2.2

DC 11............................................................................................ 1.2.3
DC12..................................................................... ....................... 1.2.4

1.314...........................................................................................................
1.4 16.......................................................................................CHOPPER

2 17.....................................................................................
2.1 17......................................................................................................

2.2 17............................................................................................................
3 18......................................................................................................

3.1 18............................................................................................................
3.2 18........................................................................................................

3.2.1 19................................................................................................
3.2.1.1 19......................................................................KA3525 PWM-

3.2.1.2 20...................................................................Optocoupler 6N137

3.2.1.3 22...........................................................................Driver IR2110

3.2.2 23................................................................
3.2.3 24..........................................

3
DC "
: :" ,'
 3.3 30.........................................................................................................

3.3.1 30.................................................................................... snubber -

3.3.2 31.............................................
3.4 36 ..........................................................................................................
3.5 37.........................................................................................

4 38.............................................................................. DC
4.1 38.........................................................................................................

4.1.1 " 38.....................................................................

4.1.2 " 40...............................................................

4.1.3 " 41...................................................................... Rad

4.2 " 42....................................................................... Rad
5 43 ...........................................................................
-5.1 43.............................................................................

-5.2 43...............................................................................................
6 - 44.................................................

6.1 44................................................................................................
6.1.1 44.........................................................

6.2 45................................................................................................

6.2.1 d.c - 45...................................................

6.2.2 46......................................................... ...........

4
DC "
: :" ,'
 d.c 6.2.3 -
47..............................................

6.3 48........................................................................................................
6.3.1 48....................................................................................

6.3.2 48...................................................................................
6.4 50.........................................................................................

7 51..........................................................................................................
8 52.................................................................................................................

8.1 52.........................................................................................................
8.2 53......................................................................................................

53............................ .......................................PWM 8.2.1

54...............................................................ka3525 8.2.2

55............................................................6N137 8.2.3

8.2.4 56.................................................................IR2110

8.3 57..................................................................................... ..........

8.4 60....................................................................................

5
DC "
: :" ,'

.1 - 9................................................................................................ DC

.1 - DC 10.............................................................
.1 - 11.................................................................................. DC

.1 - DC 12................................................................
.1 - DC12...................................................................

.1 14................................................................................
.1 14...................................................................

.1 14..................................................
.1 15...........................................................................

.1 16...............................................................
.3 - 18........................................................................

.3 - 19........................................................................................ PWM
.3 - KA352520...........................................................................

3 - 21..........................................................................
.3 - 6N13721..............................................................................
.3 - IR211022..............................................................................
.3 - 23.....................................................................

.3 - 524.............................................KA3525
.3 - 2 25.......................................... KA3525

.3 - 11,14 26.................................... KA3525

.3 - 2 27........................................ 6N137N

.3 - 1028....................................................
.3 - 729......................................................

.3 - 30.....................................................................................snubber -

6
DC "
: :" ,'
 Drain Source .3 -
duty cycle - 31.......75%

.3 - Drain Source duty cycle - 32.......50%

.3 - Gate Source duty cycle - 33..........75%

.3 - Gate Source duty cycle - 34.........50%

.3 - duty cycle - 35..........................................50%

.3 - 37....................................................................................

.4 - 38..................................................................

.4 - 41...............................................................
.4 - 42..........................................................................

43......................................................................................... .5
.5 43................................................................................

7
DC "
: :" ,'

-1 48..................................................................................

-2 57.........................................................................................

-1 () 44...............................

-2 d.c - 45...........................................
-3 46............................................................................

-4 ( d.c - )47.........................................

,DC
.

"
.

, PWM' duty cycle

.
8
DC "
: :" ,'

.

- 1
9
DC "
: :" ,'
 1.1 DC

( :)Stator ( Ferromagnetic
)Core . ( )

.
( :)Rotor .

. DC
, .

:DC

DC .
. .

DC , -
.

.
"

.1 - DC

10
DC "
: :" ,'
 1.2 DC :

:
ia

Ra La
M ,
va vf ea

J

.1 - DC

1.2.1 :
.1 :
"

=
t
:
)( = )( ()
:
)M D (s) M L ( s
W ( s)
JS
.2 :
f = const = const :

)M (S) = K e Ia (S M = K e Ia

11
DC "
: :" ,'
 .3":

)a (S) = K e W(S a = K e

.4 :
"
a
a a = a a + a t

)a (S) a (S) = a (S)(a + a S

)a (S) a (S
= )a (S
)a (1 + a s

1.2.2 DC

DC"

)Va (S 1 1
+ Ra Ke ML (S) + ) W (S
1 + a s Js
)Ea (S - )MD (S -

Ke
12
DC "
: :" ,'
 .1 - DC

1.2.3 DC ) = (:

Ke
R
a Ke
)(s )Js(1 + a s JL
a
= )(W = = 2
)Va (s Ke 1 (K ) e
R S 2 + S + JL
a
1+ a a
)Js(1 + a s

)Wa (S
)Va (S Ke
R
+ a
)Js(1 + a s
)Ea (S -

Ke

.1 - DC

1.2.4 DC ) (:
13
DC "
: :" ,'


)Va (S 1 1
) W (S
+ Ra Ke MD (S) + Js
1 + a s
)Ea (S - -
)ML (S
Ke

.1 - DC

:DC

)ML (S - 14 1
) W (S
Js
DC "
MD (S) + : :" ,'

1
R
 - V = 0 W=0 -
W-.

)ML (S - 1
) W (S
Js
MD (S) +

1
(K e )2 Ra
1 + a s

1 1 1
) (S
)W (s JS J a
Wt ( S )
) M L (S ) 1 ( K e 2
1 (K ) 2
1 S2 S e
) JS Ra (1 a S a JLa

15
DC "
: :" ,'
 1.3:

() .

.
- ().

.1 -

E KTG

16
DC "
: :" ,'
 , , :

.1 - .1 -

( )
:

E KTG

" .RL

,
.

17
DC "
: :" ,'

- r .TG
( ).
TG

- RL

.1 -

.E -
E - :

, E :
E
iL
r RL

( ) " .

RL
U TG iL RL E
r RL

RL
U TG KTG
r RL

: 60

1.4 :CHOPPER -

.

. ,
, .

18
DC "
: :" ,'
 ,

.1 -

Duty Cycle - .

:
Duty Cycle . Duty Cycle

.
- . Duty Cycle

.
:

,
.

.
.

19
DC "
: :" ,'
 -2

2.1 :

,PWM
.

( Ia=2.7A ,370W , 220V)

2.2 :

2- : .
.

20
DC "
: :" ,'
 - 3

3.1 :

Ln1
J2 PWM
PWM
Key = A Load
1
Rad 3
V1
62
120 V s1 7
A

60 Hz DC_MOTOR_ARMATURE
0Deg

U1
2 4
Ln2

sens. U2
6

0
5
OPAMP_3T_VIRTUAL
OPAMP_3T_VIRTUAL
ref
Ln2

.3 -

2 :
.1
.2

3.2 :

21
DC "
: :" ,'
 PWM -

duty cycle - KA3525

.
.

"
. MOSFET-

3.2.1 :
3.2.1.1 -

:KA3525 PWM

16 .PWM

22
DC "
: :" ,'
 DC LabView- 5 , 2
- .

. duty cycle duty cycle - 11.14-

:
8-35v :

100-400KHz :
DC 5

.3 - PWM

23
DC "
: :" ,'
 R4

3.3k
LAB VIEW 0-10V
C2

KA3525
R3 1 9 1.0nF 0
-V COMP R5
50%10K 2 +V CT
5 10K 50%
4
3 6
SYNC RT
4 R11
VCC
X OSC DISC
7
R7
12V VCC 15 VCC CSS 8 100
R1 10 SD VREF 16 1.2k
3.3k 13 VC OUTA 11 C1
12 GND OUTB 14
100nF
D1

1N4148
D2

1N4148

OPTOCOUPLER R2
10k

3.2.1.2 :Optocoupler 6N137

.3 - KA3525

24
DC "
: :" ,'
 8 .100MHz

- -
, . 2 ,

.
, LED
. NPN ,LED
- . ()

hfe .
:

ISO1
2 8

7
6
3
5

6N137

.3 -

:
R2
10k

VEE VDD
5V 12V
R12 VDD
R21
1.0k
R10
3.9k 5.1k
C8 IR2110

1
6
8 1.0nF 25 3
NC VCC
2 6 2
A
VE DC 2N1711 "

3 7
C VO
: :" ,' 1
4 5
NC2 GND

GND GND
 .3 - 6N137

3.2.1.3 :Driver IR2110

"-" ,

MOSFET .
10 , .7

26
DC "
: :" ,'
 VDD2
12V BUS1

Ln1
C11 IR2110 VDD
100nF X8 NC1 HO
7
1N4148
D10
12V
9 6
VDD VB
10 5
Hin VS
X 11 SD NC3
4 X VDD
12 3 12V C12 C13
Lin VCC
13 2 100nF 10uF
VSS COM
X 14 NC2 LO
1
X
C14
GND
100nF GND

C15

10uF

GND2

.3 - IR2110

3.2.2 :

27
DC "
: :" ,'
 R6

3.3k
C6

LAB VIEW
0-10V
U1
25nF
1 9
R7 -IN COMP
10K SW1 2 5 R4
+IN CT
3 6
SY NC RT 10K
4 7 R5
VCC 12V OSC DISCHG 0.1K R3
15 8
+VI SS 1.2K
10 16
SHDN VREF
13 11 C5
R8 3.3k
VC OUTA
12 14
GND OUTB 100nF

KA3525A

D3

D4
VDD 12V
GATE1

R10
10K U2
VDD 12V
8 7 D5
VEE 5V VDD 12V
C12 NC1 HO
100nF 9 6
VDD VB
R11 1K R10 10 5
HIN VS
11 4 VDD 12V
3.9K SHDN NC3 C9 C8
R9 5.1K 12 3 100nF 10uF
C7 LIN VCC
13 2
VSS COM C11
1 8
NC1 VCC 1nF 14 1
2 6 NC2 LO
ANODE VE 2N1711 IR2110
3 7 100nF
CATODE VO
C10
4 5
NC2 GRD

10uF

This groud connected to the source

of the Mosfet in the buck converter.

' - .3

28
" DC
: ' , " :
 : 3.2.3

:KA3525 - 5

.3 - 5 KA3525

5 KA3523A .PWM

29
DC "
: :" ,'
 :KA3525 - 2

.3 - 2 KA3525

DC ( , (duty cycle-
2 ".

30
DC "
: :" ,'
 :KA3525 - 11,14

.3 - 11,14 KA3525

31
DC "
: :" ,'
 11 ". duty cycle -

: 6N137N 2

32
6N137N 2


"
DC
-

.3

: :" ,'
 : IR2110 10
.

33
DC "
: :" ,'
 : IR2110 7

34
DC "
: :" ,'
 .3 - 7

. MOSFET - .buck-

35
DC "
: :" ,'
 3.3 :

3.3.1 :snubber -

buck- snubber , .
:

.1 snubber- .

.2 snubber- .

.3 snubber-

Cp Rp

Cp

Rp

.3 - snubber -

:snubber -

220
= = = 440
0.5
= 2Coss = 2 285 = 570pF

36
DC "
: :" ,'
 :

P = 2 = 2202 7 103 570 1012 = 0.193

5
. , .1W-

3.3.2 :

Drain Source voltage - duty cycle of 75%

37
DC "
: :" ,'
 .3 - Drain Source - -
duty cycle 75%

Drain Source voltage- duty cycle of 50%

38
DC "
: :" ,'
 .3 - Drain Source -
duty cycle - 50%

39
DC "
: :" ,'
 Gate Source voltage - duty cycle of 75%

.3 - Gate Source -
duty cycle - 75%

40
DC "
: :" ,'
 Gate Source voltage - duty cycle of 50%

.3 - Gate Source -
duty cycle - 50%

41
DC "
: :" ,'
 Diode voltage- duty cycle of 50%

42
DC "
: :" ,'
 .3 -
duty cycle - 50%

43
DC "
: :" ,'
 3.4 :
370W ( )

. " .
.buck- ( ) 220V

.
60 ."

.
60- , 60- .
.

60
=n =
60

44
DC "
: :" ,'
 3.5 :

.
Vref .

.
DC .PWM -

PWM - DC . duty cycle -

.
"
() .

45

"
DC "
duty

" : :" ,'
cycle

 .3 -

-4 DC

4.1:

: DC
.1 .Va
.2 " .
.3 Rad" .

46
DC "
: :" ,'
 : " 4.1.1
:

S1
Va

A
DC_MOTOR_ARMATURE

.4 -

Va=Vn

W0

'W0
V<Va
W1

W2

47
DC "
: :" ,'
 .

" Va .

48
DC "
: :" ,'
 4.1.2 " :

'W0
W0
W1 0

MIa

( If.n ) ,
.
w0 .

=


=

49
DC "
: :" ,'
 4.1.3 " :Rad

:
Rad 2
Ra 1

62 0.0
S1

A
DC_MOTOR_ARMATURE

.4 -

Ra .0.3 -
" .

.
" .

W0

W1
W2
50
DC "
: :" ,'

M
 Rad = 0

Rad > 0

30 "
Rad=60 .

4.2
DC

Key = A

3 Ra 1

62
S1
Va
A

DC_MOTOR_ARMATURE

.4 -

Ra=60 const.

: Ra

51
DC "
: :" ,'
 , ,

.
" duty cycle :

) = (

.
'

DC .PWM
PWM - duty cycle -

-5

DC
Ch1 -5.1 :

+5v -5v S D

sens Vref
52
gnd n.c
DC "
: :" ,'

n.c
 .5 -

-5.2 :

Ia
If

A Rad
A
120DC VAR

B2

.5 -

-6 -

53
DC "
: :" ,'
 6.1
6.1.1 ()

n )W=f(Ia
1600

1400

1200

1000

800
W
600

400

200

0 Ia
0 0.5 1 1.5 2 2.5

-1

:
+
=
) (

=
.

, .
" "" " , duty cycle
.

54
DC "
: :" ,'
 6.2
6.2.1 d.c - ( Rad)

W=f(I) )---without feedback

1600
0, 1380
1400 1290 1270
1225 1198
1400 1172
1200 1.2, 1245
1, 1120
0, 1300 0.8, 1190
1000 1.4, 988
1.2, 1050 1.9, 838 N(r.p.m)-DC 0.25
0.8, 954 1.7, 902
800 1, 872 N(r.p.m)2-DC 0.5
1.2, 784 1.7, 584
600 N(r.p.m)-DC 0.75
1.4, 692
400 1.9, 490
200

0
0 0.5 1 1.5 2

-2

.1 d.c .

.2 .

: .

55
DC "
: :" ,'
 +
=
) (

) = (

6.2.2 .

W=f(Ia) )---
1600

1400

1200

1000

800
Y
600

400

200

0
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6

-3

D=1 .Rad=0

56
DC "
: :" ,'
 57
DC "
: :" ,'
 6.2.3 duty cycle - ()Rad=const

n
1500 0.5, 1442
0.25, 1400 0.75, 1480
1400
0.75, 1380
0.5, 1345
1300 0.25, 1300
0.75, 1290
0.5, 1241
1200 0.25, 1190
)N1(I=0.5A
1100
)N2(I=1A
1000 )N3(I=2A

900

800

700
D
600
0 0.2 0.4 0.6 0.8

-4 duty cycle -

:
.1 D - .

.2 ( ) .

: .

58
DC "
: :" ,'
 +
=
) (

6.3

6.3.1

const ):)Rad=60
W(r.p.m)-DC W(r.p.m) -DC W(r.p.m)-DC )I(A
0.75 0.5 0.25
1400 1380 1300 0
1290 1190 954 0.8
1270 1120 872 1
1245 1050 784 1.2
1225 988 692 1.4
1198 902 584 1.7
1172 838 490 1.9

6.3.2

' 3 n=f(D) :

I=0.5A I=1A I=2A

DC= 25% DC= 25% DC= 25%
N=1400 r.p.m N=1300 r.p.m N=1190 r.p.m
Ia=0.5A Ia=1A Ia=2A
DC= 50% DC= 50% DC= 50%
N=1442 r.p.m N=1345 r.p.m N=1241 r.p.m
Ia=0.5A Ia=1A Ia=2A
DC= 75% DC= 75% DC= 75%
N=1480 r.p.m N=1380 r.p.m N=1290 r.p.m
Ia=0.5A Ia=1A 59 Ia=2A

DC "
: :" ,'
 60
DC "
: :" ,'
 .... :

n=f(Ia) :
I =const ):)Rad=60

Ia 0.5A 1A 2A
D 0.25 0.25 0.25
N 1400 1300 1190
Ia 0.5A 1A 2A
D 0.5 0.5 0.5
N 1442 1345 1241

Ia 0.5A 1A 2A
D 0.75 0.75 0.75
N 1480 1380 1290

61
DC "
: :" ,'
 6.4

. DC
.
. .
. , .
. ,
.
.
.

62
DC "
: :" ,'
 -7

[1] Mohan N. "Power Electronics Converter Applications and Design",Wiley

N.Y.
pp. 230-235 (1995).
[2] Muhammad H. Rashid, "Power Electronics", Prentice Hall N.J.
63
DC "
: :" ,'
 pp. 303-326(1993)
to Power Electronics" , Prentice [3] Daniel W. Hart, "Introduction
Hall, N.J.
pp. 185-205 (1997).
[4] Colonel Wm. T. McLyman, "Transformer and Inductor Design Handbook",
Marcel Dekker Inc. N.Y. pp. 145-166(1998).
[5] Neisimi Ertugrul, "Lab View for Electric Circuit, Machines and Laboratories".
Prentice Hall ,N.J. pp. 233-236(2002).
[6] C.A. Gross, Electric Machines, CRC Press, 2007.

[7] 2. S.A. Nasar, Electric Machines and Electromechanics. Schaum's Outlines.

[8] McPherson, G. and Laramore, R.D. An Introduction to Electrical Machines and

Transformers, John Wiley & sons, 1990.

[9] Del Toro, V., Basic Electric Machines, Printice Hall, 1992.

[10] Fitzgerald, A.,Kingsley, Umans,S., Electric Machinery, McGraw-Hill, 1990.

-8

8.1
8.2

64
" DC
: ' , " :
 8.2.1 PWM

65
DC "
: :" ,'
 66
DC "
: :" ,'
 8.2.2 ka3525-

67
DC "
: :" ,'
 8.2.3 6N137N-

68
DC "
: :" ,'
 8.2.4 IR2110-

69
DC "
: :" ,'
 70
DC "
: :" ,'
 : 8.3

Number Desciption Referance Quantity Speclfiction Remarks

1 Capacitor C2,C4,C5,C9,C11 6 100nF
C12,
2 Capacitor C6 1 25nF
3 Capacitor C8,C10 2 10uF
4 Capacitor C1,C3 2 1000uF
5 Capacitor C7 1 1nF
6 Capacitor C13,C14 2 680pF
7 Diode Brige D1,D2 2
8 DIODE D3,D4,D5 3 1N4148
9 High Power Diode D6 1 MUR860D
10 RESISTOR R1,R2 2 360ohm
11 RESISTOR R11 1 1K
12 RESISTOR R3 1 1.2K
13 RESISTOR R6,R8 2 3.3K
14 RESISTOR R10 1 3.9K
15 RESISTOR R9 1 5.1K
16 Potentiometer R4,R7 2 10K
17 RESISTOR R5 1 100
18 RESISTOR R14 1 10
19 RESISTOR R12,R14 2 440
20 Diode Led LED1,LED2 2 GREEN LED
12V
21 Fuse U1,U2,U3 3 1A
22 Transistor 2N1711 npn
23 Transformator T1 1 220/12VX2
24 HIgh Power Mosfet 1 IRF840

71
" DC
: ' , " :
25 Optocoupler 1 6N137N
26 PWM Generator 1 KA3525A
27 Driver for Mosfet 1 IR2110
28 REGOLATOR E1,E2 2 7812 12V
29 REGOLATOR E3 1 7805 5V
30 Wire 9m 0.5A
31 MOSFET PCB 3 3-
SOCKET TERMINALS

32 universal pcb board 2 10X25cm pcb

board
33 connector 6 2conectors
34 connector 4 3conectors
35 BOX 1 27x21x9cm
36 IC PCB SOKET 2 DIP16
37 IC PCB SOKET 2 DIP14
38 IC PCB SOKET 2 DIP 8

72
" DC
: ' , " :