Project: Investigation of loading effect on DC motor speed

responses
A report submitted in partial fulfilment of the requirement for
the course of

Control Engineering (BDA30703) SEM II 2016/17

Faculty of Mechanical and Manufacturing Engineering

GROUP NAME:
NAME MATRIC NO.

1 AHMAD HANAFI BIN A MANAN AD150169

2 MUHAMMAD AFNAN BIN HAMDAN CD150233

3 MUHAMMAD BIN AZMAN DD150073

4 MOHAMAD NURR FIRDAUSS BIN MOHAMED CD160204

5 MUHAMMAD FIRDAUS BIN SHAMSUDDIN AD150012

SECTION 8
PROJECT ASSESSMENT
CHAPTER 1: INTRODUCTION

When a DC machine is loaded either as a motor or as a generator, the rotor conductors carry
current. These conductors lie in the magnetic field of the air gap. Thus each conductor
experiences a force. The conductors lie near the surface of the rotor at a common radius from its
center. Hence torque is produced at the circumference of the rotor and rotor starts rotating. The
term torque as best explained by Dr. Huge d Young is the quantitative measure of the tendency of
a force to cause a rotational motion, or to bring about a change in rotational motion. It is in fact
the moment of a force that produces or changes a rotational motion. The equation of torque is
given by,

Where, F is force in linear direction. R is radius of the object being rotated, and is the angle,
the force F is making with R vector,

The DC motor as we all know is a rotational machine, and torque of DC motor is a very
important parameter in this concern, and its of utmost importance to understand the torque
equation of DC motor for establishing its running characteristics

To establish the torque equation, let us first consider the basic circuit diagram of a DC motor, and
its voltage equation.

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1.1 Analyzing the DC circuit

Referring to the diagram above, we can see, that if E is the supply voltage, Eb is the back emf
produced and Ia, Ra are the armature current and armature resistance respectively then the voltage
equation is given by,

But keeping in mind that our purpose is to derive the torque equation of DC motor we multiply
both sides of equation (2) by Ia,

Now Ia2.Ra is the power loss due to heating of the armature coil, and the true effective mechanical
power that is required to produce the desired torque of DC machine is given by,

The mechanical power Pm is related to the electromagnetic torque Tg as,

Where is speed in rad/sec.

Now equating equation (4) & (5) we get,

Now for simplifying the torque equation of DC motor we substitute.

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Where, P is no of poles, is flux per pole, Z is no. of conductors, A is no. of parallel paths, and
N is the speed of the D.C. motor.

Substituting equation (6) and (7) in equation (4), we get:

The torque we so obtain, is known as the electromagnetic torque of DC motor, and subtracting
the mechanical and rotational losses from it we get the mechanical torque. Therefore, Tm = Tg -
mechanical losses. This is the torque equation of DC motor. It can be further simplified as:

Which is constant for a particular machine and therefore the torque of DC motor varies with
only flux and armature current Ia. The Torque equation of a DC motor can also be explained
considering the figure below.

Current / conductor Ic = Ia / A Therefore, force per conductor = fc = BLIa/A Now torque Tc = fc.r =
BLIa.r/A

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Hence, the total torque developed of a DC machine is,

This torque equation of DC motor can be further simplified as:

Which is constant for a particular machine and therefore the torque of DC motor varies with only
flux and armature current Ia.

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1.2 Objective Project

Engineering Knowledge for this project to analyze the stability, steady-state errors and
transient response of controlled system using appropriate methods. Then, we need to solve the
problem and analyse. We demonstrates analysis and design of physical systems using time and
frequency response methods to the practical application in control systems. The skill we need to
have is individual and team work. Execute problem solving methods and verify the concepts
covered in basic control system via hand calculation and simulation in computer-aided software
in group project.

1.3 Scope Project

1. This experiment is to study proportional-integral control of the speed of a DC motor.

2. Asecondary objective is to become familiar with the use of SIMULINK as a system
simulation too
3. The sketch of an armature-controlled DC motor and its electric diagram is shown below :

CHAPTER 2: MATHEMATICAL MODELLING

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2.1 Equations related to the armature-controlled DC motor

ia = armature current eb= back emf

ea= armature terminal voltage wm = motor speed (rad/sec)
T = motor torque Tf = static friction torque
Ra = armature resistance La = armature inductance
Jm = rotational inertia Bm = viscous friction

1. Developed Torque

T = motor torque KT = torque constant

Tf = motor friction torque ia = armature current

2. KVL in Armature Circuit

ea= armature voltage eb = back emf

Ra = armature resistance

3. Back EMF

wm= shaft speed (rad/s) eb = back emf

Ke = back emf constant
4. Developed Power

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P = shaft power
2.2 Block diagram related to the DC motor

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CHAPTER 3: THEORETICAL CALCULATION.

3.1 Theoretical calculation

2 N
=
60
2 60
= =6.28
60
v
=k
b
v
=0.1
6.28
v =0.628
V
I=
R
0.628
I=
1.0
I =0.628 A
T =K T i A T f

0.1=0.1 0.628T f

T f =0.628

e b=K e m V

e b=0.1 6.28 0.628

e b=0.394

e a=I a Ra + eb V

e a=( 0.628 1.0 )+ ( 0.394 0.628 )

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 e a=0.875

2 NT
P=
60
20 60 0.1
P=
60
P=0.63 W
With load:

K T ea (T T f ) R a
m=
KT K e

(0.1 0.875)(0.20.628) 1.0

m=
( 0.1 0.1)
rad
m=51.55
s
No load;

K T e a(T f ) R a
=
KT Ke

( 0.1 0.875)(0.628)1.0
=
(0.1 0.1)
rad
=54.05
s
Explain why the speed response from the loaded motor stayed reasonably constant when you
closed the loop?

In closed loop controller the speed can be maintained by adjusting terminal voltage
according the speed difference caused by the load torque. Example, a fine control of speed can
be obtained using closed loop speed control.

The difference speed error is applied to the speed controller to generate a control voltage
Vc which controls the power converter and produces the desired terminal Vt .This terminal
voltage controls the speed of the motor and thus the speed of the motor can maintained for any
variations in the load torque.

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3.2 Advantages of closed loop speed control
Greater accuracy with fine control of speed
Improved dynamic response
The motor can be operated at constant torque and constant speed
Stabilized operation without any major deviations
Circuit protections also can be incorporated in the closed loop speed control.

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CHAPTER 4: COMPUTATIONAL ANALYSIS USING MATLAB

a. Figure showed the time response for open loop system

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b. Figure showed the time response for closed loop system

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CHAPTER 5: CONCLUSION AND RECOMMENDATION

As conclusion for this project, we are able to analyse the stability, steady-state errors and
transient response of controlled system by using appropriate methods. The importance of
studying this project are compulsory to apply in our daily life to make our life more efficient. By
executing the problem solving methods and verifying the concept covered in basic control
system by aiding of simulation in computer software such as MatLab and hand calculations.

By depending in our knowledge in Chapter 2 and Chapter 3 in this course, we are able to solve
the problems related to this problem which is essential to completing this project. Finding the
Transfer Function first is compulsory as it is needed to be in form of Laplace transform equation
before finding the others formulae answers such as overshoot, rise time, peak time and settling
time when the system is subjected to a unit step input. Finally, we are able to solve related
questions related to the controlled system.

REFERENCES

http://ctms.engin.umich.edu/CTMS/index.php?
example=MotorPosition&section=SimulinkControl
https://en.wikipedia.org/wiki/Control_engineering
http://www.electrical4u.com/control-engineering-historical-review-and-types-of-control-
engineering/

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