International Conference on Modeling and Simulation (MS09) India 1-3 Dec 2009

Intelligent Speed Control of Separately Excited DC

Motor
M.Alekhya,Y.S.K.Babu
School of Electrical Engg.
Vignan University, Vadlamudi
India
k_yadlapati@yahoo.com
Y.V.Narasimha Rao
Department of EEE
Ryerson University, Canada
yvenkat_eee@yahoo.co.in
P.Tripura
Department of EEE
Vignan’s Lara Institute of
Technology & Science
Vadlamudi,,Guntur,India
tripura.pidikiti@gmail.com
Y.Anil Kumar
Department of EEE
EVM College of Engg. &
Tech.,
Narasarao Pet, Guntur, India

Abstract—This paper presents a simulation of the speed control

of a separately excited dc motor using NARMA L2 controller. II. MOTOR MODEL
The novelty of this paper lies in the application of nonlinear The resistance of the field winding and its inductance of the
autoregressive-moving average L2 controller for the speed motor used in this study are represented by Rf and Lf,
control of Separately Excited Dc Motor (SEDM). The respectively. The resistance of the armature and its inductance
performance of the proposed system has been compared with the are shown by Ra, and La respectively in dynamic model.
traditional one using PI controller. The entire system has been Armature reactions effects are ignored in the description of the
modeled using MATLAB/SIMULINK. The simulation results
motor. This negligence is justifiable to minimize the effects of
show that NARMA-L2 controller gives better performance
compared to PI controller. It has been found that both PI and
armature reaction since the motor used has either inter-poles or
hysteresis controllers could be eliminated by the use of NARMA- compensating winding. The fixed voltage Vf, is applied to the
L2 controller. field and the field current settles down to a constant value.
A linear model of a simple DC motor consists of a
Keywords- SEDM, PI Controller,NARMA L2 Controller mechanical equation and electrical equation as determined in
the following equations:
I. INTRODUCTION dω m
The speed of DC motors can be adjusted with in wide J = K mφ I a − B1 .ω m − T1 ………. (1)
boundaries so that this provides easy controllability and high dt
performance. DC motors used in many applications such as dI
steel rolling mills, electric trains, electric vehicles, electric La a = V − Ra .I a − K b .φ .ω m ………. (2)
cranes and robotic manipulators require speed controllers to dt
perform their tasks. Speed control of DC motors was carried The dynamic model of the system is formed using the
out by means of voltage control in 1981 firstly by Ward above equations and Matlab / Simulink blocks are shown in
Leonard. The regulated voltage sources used for DC motor fig.1.
speed control have gained more importance after the
introduction of thyristor as switching devices in power
electronics. Then semiconductor components such as
MOSFET, IGBT and GTO have been used as electric
switching devices.
In this study, the speed response of a DC motor exposed to
fixed armature voltage was investigated for both under loaded
and unloaded operating conditions. First, the DC motor was
operated for a required reference speed under loaded and
unloaded operating conditions using PI controller. Then, to
make performance comparison, the speed of the system was
controlled using NARMA L2 Controller.The novelty of this
paper lies in the application of NARMA L2 controller for the
speed control of separately excited dc motor. The simulations Fig.1 MATLAB/ SIMULINK model of DC motor.
are carried out using MATLAB/SIMULINK environment. In
this system chopper circuit is used as the motor driver

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College of Engineering Trivandrum, India 382
 III. DRIVER CIRCUIT MODELLING
DC choppers are used as a driver in this work to change the
average value of load voltage applied from a fixed DC source
by switching a power switch, such as, thyristor or BJT. The
average output voltage can be calculated as,
Vdo = δ V
Duty interval ton
δ= = ……. (3)
T T
Where, V is the DC source voltage. Vdo can be controlled
using two methods:
Hold toff fixed and change ton (frequency modulation)
Hold period (toff + ton) fixed and change toff/ton rate (pulse
width modulation)
In this paper, one-quadrant DC chopper is designed as a
driver. In one-quadrant driver, load voltage and load current
can take only positive values. DC chopper model used in
simulation model is shown in Fig. 2. To control average output
voltage, Vdo, pulse width modulation (PWM) technique is used.
triangular signal are U1 and U2 variables of ‘IF’ block used in
simulation model shown in fig.2.
IV. SPEED CONTROL OF SEDM USING NARMA-L2
CONTROLLER
NARMA-L2 Controller: The learning ability, self-adapting,
and super-fast computing features of ANN make it well suited
for the control of electrical power systems in many applications
such as: electric load forecasting, transient ability assessment,
active power filter, dynamic voltage restorer, and unified
power quality conditioner. In learning process, neural network
adjusts its structure such that it will be able to follow the
supervisor. The learning is repeated until the difference
between network output and the supervisor is low.
A. System Identification Stage:
NARMA-L2 controller, a multi-layer neural network has
been successfully applied in the identification and control of
dynamic systems. System identification and control design are
the two steps involved in using NARMA-L2 controller. In the
system identification stage a neural network model of the plant
to be controlled is developed. Fig. 4 shows the block diagram
representation of the system identification stage. In the control
design stage, the neural network plant model is used to train the
controller. In the system identification stage a neural network
plant model must be developed before the controller is used.
The plant model predicts future plant outputs. The plant model
has only one hidden layer. The specifications of the plant
model are tabulated in Table 1.

Fig 2. SIMULINK Model of DC Chopper

Fundamentally, the operating principle of driver model is

based on the comparison of two signals. One of the signals is a
triangular waveform which represents one period of 2 KHZ
chopping frequency and other one is fixed linear signal which
represents time equivalent of alpha trigging angle (tα).

Fig. 4 Block diagram of system identification stage

TABLE 1
PLANT MODEL SPECIFICATIONS
Size of hidden layer 9
Sampling intervals 6.254e-5
No. of delayed plant inputs 3
No. of delayed plant outputs 2
Training Samples 40000
Maximum plant input 240
Fig. 3 Input and output signals of driver model Minimum plant input 0
Since chopping frequency is 2 KHZ, the amplitude of Max.interval value 1
Min.Interval value 0.5
1 Max.Plant output 120
triangular waveform starts from zero and reaches = Min.Plant output 0
2 x 103 Training Epochs 100
0.0005 value. On the other hand, the Alfa signal from Training Function trainIm
controller is multiplied by 0.0005/360 value to calculate the Use Current weights Selected
time corresponding to this angle. Alpha time signal and Use validation data Unselected
Use Testing data Unselected

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B. Controller design stage
The central idea of this type of control is to transform
nonlinear system dynamics by canceling the non-linearities.
Fig. 5 shows the block diagram representation of NARMA-L2
controller. Sample performance graph and training data
obtained from a NARMA-L2 controller are illustrated in Fig. 6
and 7 respectively.
Fig. 5 NARMA-L2 controller.
Fig. 6 Sample performance graph of a NARMA-L2 controller
Fig. 7 Training Data of a NARMA-L2 controller
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College of Engineering Trivandrum, India
C. SIMULINK model of NARMA-L2 controlled SEDM
The simulink model of a NARMA-L2 controlled separately
excited dc motor is shown in Fig. 8. A simulink based plant
model using PI controller is used to generate the required
training data. The inputs of the controller are the reference
speed and the actual speed and the output is the driving
voltage to the motor.
Fig. 8 SIMULINK model of NARMA-L2 controlled SEDM
V. RESULTS & DISCUSSION
NARMA L2 controller has been modeled and tested
successfully to control the speed of SEDM. The performance
of the developed system is compared with PI Controller..Fig.9
Fig.10 illustrate the comparison of simulation results of PI and
NARMA L2 Controllers for the 30 N-m load conditions. The
validity of simulation time is set to 1 sec. The load torque is
varied from 0 to 30 N-m at 0.6 sec. The controllers designed,
have been simulated for 10, 30 and 50 Nm load values; then
percent overshoot (%Mp) and steady state error (ess) have been
measured. PI controller responses for different Kp,Ki
coefficients, and NARMA L2 controller responses are
compared and tabulated in Table 2.As seen from the table
NARMA L2 controller outperforms PI controller in terms of
overshoot and steady state error criteria.
Fig.9 Simulation results for PI controller
384
 C1: Kp=100; Ki=15, C2: Kp=200Ki=25,C3: Kp=300;Ki=28
C4: Kp=500;Ki=30

REFERENCES
[1] Moleykutty George, “Speed Control of Separately Excited DC Motor,”
in American Journal of Applied Sciences 5 (3): 227-233,2008.
[2] Y. Tipusuwan and Y. Chow, “Fuzzy logic microcontroller
implementation for dc motor speed control”, IEEE proceedings, 1999.
[3] A. Dumitrescu, D.Fodor, T.Jokinen, M.Rosu, S.Bucurencio“Modeling
and simulation of electric drive system using MATLAB/Simulink
environments”, International Conference on Electric Machines and
Drives (EMD), 1999, pp.451-453.
[4] B.K.Bose, “Expert system, Fuzzy Logic and neural network
applications in power electronics and motion control”, proc .IEEE,
vol.82, PP.1303-1323, Aug. 1994.
[5] http://www.mathworks.com (The official site for MATLAB &
SIMULINK as Fuzzy Logic Toolbox/Neural networks tool ox)
[6] Gopal K. Dubey, “Fundamentals of Electrical Drives”, Narosa
Publishers 2nd Edition.
[7] R. Krishnan, “Electric motor drives modeling, Analasis and control”,
Fig.10 Simulation results for NARMA L2 Controller Prentice –Hall of India Private Limited, New Delhi.

TABLE 2

Load 10 N-m 30 N-m 50 N-m

C1 % Mp 5.955 5.045 5.627
ess 0.393 -0.288 -0.191
PI C2 %Mp 5.635 5.6315 5.632
ess -0.25 -0.195 -0.15
C3 %Mp 5.7315 5.7315 5.7315
ess -0.18 -0.15 -0.12
C4 %Mp 5.895 5.895 5.895
ess -0.1175 -0.09 -0.075
NARMA %Mp 0.24 1.08 2.58
L2 ess 0.0004 0.0009 0.001

VI. CONCLUSIONS
Speed Controller system based on NARMA–L2 controller
for SEDM has been successfully developed in
MATLAB/SIMULINK environment. The performance of the
system has been compared using different PI controllers.
Simulation results show that NARMA L2 controller has clearly
better performance for providing Tr (rise time) and %Mp (peak
overshoot) and is able to regulate the speed.

APPENDIX

5 HP, 240VSEDM PARAMETERS

Parameters Description Value
Ra Armature 0.6 ohms
Resistance
La Armature 0.012 H
Inductance
J Moment of Inertia 0.0167Kgm2
B1 Damping Ratio of 0.0167 Nms
mechanical system

Department of Electronics and Communication Engineering

College of Engineering Trivandrum, India 385