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Rajshahi University of Engineering & Technology

(RUET), Rajshahi

DEPARTMENT OF
ELECTRICAL & ELECTRONIC ENGINEERING

Expt. No: 05
Name of Expt.: Speed Control of a DC Motor using PID controller.

Course Title: Control System SUBMITTED BY:

sessional
COURSE NO: EEE-3106 NAME: Kaji Saiful Islam Shawon

DATE OF EXP.: 19-07-2017 CLASS: 3rd year 5th semester

DATE OF SUB.: 20-08-2017 ROLL NO.: 141032

GROUP: SESSION: 2014-15

Experiment No: 03

Experiment Name: Analysis the characteristics of a DC Motor in a Simulink platform.

Objectives: The objective of this experiment is to know that

 How a DC motor can be controlled by varying the magnitude and direction of its
armature current.
 Analysis the torque/speed control characteristics of a DC motor in Simulink /Matlab
platform
THEORY: Generally, three characteristic curves are considered important for DC motors which
are, (i) Torque vs. armature current, (ii) Speed vs. armature current and (iii) Speed vs. torque.
These are explained below for each type of DC motor. These characteristics are determined by
keeping the following two relations in mind.
Ta ∝ ɸ.Ia and N ∝ Eb/ɸ
These above equations can be studied at - emf and torque equation of dc machine. For a DC
motor, magnitude of the back emf is given by the same emf equation of a dc generator i.e. Eb =
PɸNZ / 60A. For a machine, P, Z and A are constant, therefore, N ∝ Eb/ɸ

Fig 01: DC Motor schematic Diagram

A magnetic field is developed by stationary permanent magnets or a stationary electromagnet

called fixed field as shown in fig 01. The armature current is 𝑖𝑎 (𝑡)The relationship between the
armature current ia(t), the applied armature voltage 𝑒𝑎 (𝑡),the back e.m.f 𝑉𝑏 (𝑡) is found by
writing a loop equation around the Laplace transform armature circuit in fig 01:
𝑑𝑖
𝑖𝑎 𝑅𝑎 + 𝑉𝑏 + 𝐿 = 𝑒𝑎 (𝑡)………..(1)
𝑑𝑡

Back e.m.f 𝑉𝑏 =k𝜔

So, the equation (1) can be written as

𝑖𝑎 𝑅𝑎 + 𝑉𝑏 + k𝜔 = 𝑒𝑎 (𝑡)
We can also write the equation of fig 01 in angular form which is
𝑑𝜔
j +B𝜔 = 𝑘𝑖𝑎
𝑑𝑡

j𝜃+B𝜔 = 𝑘𝑖𝑎 …………(2)

From equation (1) & (2), We can write that,
𝑑𝑖 𝑒𝑎 (𝑡) 𝑅 𝐾
= − 𝑖 − 𝜔 ……..(3)
𝑑𝑡 𝐿 𝐿 𝐿

𝑑𝜔 𝑘 𝐵
= 𝑖- 𝜔………….(4)
𝑑𝑡 𝑗 𝑗

So, from this Equation (3) & (4) we have to accomplish the block diagram of the DC Motor
which is given below.
EQUIPMENT: SIMULINK/MATLAB.

BLOCK DIAGRAM:

Here, the value of the parameters are:

kb=39.3e-3 L=1.54e-3H
R=7.94ohm j=40e-7
B=15e-6 kt=.0393
 Fig 02: Block diagram model for DC motor

GRAPHICAL REPRESENTATION:

Fig 03: Angular velocity vs time graph of a DC Motor

 Fig 04: Armature current vs time graph of DC Motor

DISCUSSION: By plotting the armature current vs time graph and angular velocity vs time graph
in Simulink/Matlab platform we have seen the characteristics of a DC Motor. We have also seen
the changing the order of magnitude of armature current. The experiment was successful .