SIMULATION AND DESIGN OF THE DC DRIVES FOR THE SPEED

CONTROL BY THE USE OF SMART CONTROLLER

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ACKNOWLEDGEMENT
I am really grateful to the team members for giving their best and for the effort they have
provided for the success of the project. For all the ideas and knowledge I have gained from my
teammates, I would like to provide my sincere regards.
The project was performed by our teammates with the assist of our supervisor. The project
named “SIMULATION AND DESIGN OF THE DC DRIVE FOR THE SPEED CONTROL BY THE USE OF
SMART CONTROLLER” was completed by our hard work and especially by the help of project
supervisor without his help, the completion of the project was impossible. Special thanks to our
supervisor for the continuous support and for the ideas you have provided for the completion
of the project.
At last, to the electrical and electronics department, thank you for helping us find the source
file for the project also our greatest gratitude to all the teachers who guides us and provided
knowledge regarding the project, special thanks to our supervisor who is regarded as the
backbone of the project. Our heartfelt thanks to our family members for gaining our confidence
and encouraging us in every step and supporting us for the success of the project.
Project teammates

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DECLARATION
The performance of the project named “SIMULATION AND DESIGN OF THE DC DRIVE FOR THE
SPEED CONTROL BY THE USE OF SPEED CONTROLLER” was done as a part of a course related to
the electrical, as well as, electronics engineering department . Mr/Mrs …… was selected as the
supervisor for our project.
The source was obtained from the other file and only the concept and ideas were collected and
no contents were copied from the other file sources. We performed the project without
violating any rules and accepting all the norms and conditions which should be followed for the
presentation of the project file.
The project file was provided to the department of engineering so that the file would be under
the guidance of the engineering department. If any of the projects is found to copy the content
of this file, they are in violation of the rules and are ready to face the legal action to be taken by
the university.
Project teammates

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ABSTRACT
The project was performed on the basis of a PID along with MRAC controller and the main
function was controlling the speed regarding the DC motor according to the requirement. This
design was generally based on two methods such as the control method along with the
gradient descent method. For the operation of the system, the process of the simulation was
performed and was conducted on MATLAB software which included Simulink. This design
included both the controllers i.e. PID controller, as well as, MRAC controller that helped in the
development of the response as per the speed of the motor. Since the electronic method
consisted of both the controllers, this technique was generally preferred over the previous
older techniques of speed control as it consisted of various advantageous factors such as it has
greater efficiency and provided higher reliability, the power consumption was regardless small
and was considered as the best device in the case of the safety factor. The circuit diagram was
performed and the results were achieved on many methods. The graph was acquired in the
case of the transfer function regarding DC motor Simulink model that presented the relation of
speed with time. Here, with the increment of the time, the speed of the motor was increased.
Now the result for the relation between armature current along the time was obtained and
found out that as the time period increased, the armature current rapidly decreased at the
initial and remained at a constant value as the time increased. The graph was obtained for the
DC motor along with the PID controller was done and in this case, as the time was increased,
the oscillation was considerably decreased and remained zero and the error was resolved. In
the case of both the PID controller and MRAC controller, the speed acquired a linear pulse
according to the time and the error was resolved to obtain the acceptable speed of the motor.

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TABLE OF CONTENT
ACKNOWLEDGEMENT……………………………………………………………………………………………………….2
DECLARATION…………………………………………………………………………………………………………………...3
ABSTRACT……………………………………………………………………………………………………………………….…4
CHAPTER 1 INTRODUCTION………………………………………………………………………………………………7
1.1 BACKGROUND…………………………………………………………………………………………………………….7
1.2 OVERVIEW………………………………………………………………………………………………………………..…7
1.3 PROBLEMS OF THE STATEMENT………………………………………………………………………………....7
1.4 OBJECTIVE OF THE PROJECT……………………………………………………………………………………..…8
1.5 SCOPE OF THE PROJECT……………………………………………………………………………………………...8
1.6 METHODOLOGY OF THE PROJECT…………………………………………………………………………….…8
CHAPTER 2 LITERATURE REVIEW…………………………………………………………………………………….10
CHAPTER 3 COMPONENTS AND TERMINOLOGIES USED………………………………………………...14
3.1 POWER SUPPLY………………………………………………………………………………………………………..14
3.2 CAPACITOR……………………………………………………………………………………………………………….14
3.3 INDUCTOR……………………………………………………………………………………………………………..…14
3.4 RESISTOR………………………………………………………………………………………………………………….14
3.5 DIODE……………………………………………………………………………………………………………………….15
3.6 DC MOTOR……………………………………………………………………………………………………………….15
3.7 PULSE GENERATOR…………………………………………………………………………………………………..15
CHAPTER 4 DESIGNING OF THE SYSTEM………………………………………………………………………...16
4.1 DC MOTOR MODEL…………………………………………………………………………………………………..16
4.2 DC MOTOR SPEED CONTROL…………………………………………………………………………………...17
4.3 PID CONTROLLER SPEED CONTROL………………………………………………………………………..…18
4.4 MRAC CONTROLLER SPEED CONTROL……………………………………………………………………...19
4.5 DESIGN MODEL OF DC MOTOR SPEED CONTROLLER………………………………………………..20
CHAPTER 5 SIMULATION ANALYSIS AND RESULT……………………………………………………..….…21

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CHAPTER 6 DISCUSSION…………………………………………………………………………………………….…..23
CHAPTER 7 CONCLUSION………………………………………………………………………………………….……24
7.1 ADVANTAGES…………………………………………………………………………………………………………..24
7.2 DISADVANTAGES……………………………………………………………………………………………………..24
7.3 FUTURE WORK………………………………………………………………………………………………………...24
CHAPTER 8 BIBLIOGRAPHY………………………………………………………………………………………….….26

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CHAPTER 1: INTRODUCTION
1.1 BACKGROUND
In an earlier period, in the case of the supply, only the dc system did exist, these dc motors
were excessively used in the case of drawing the power from the dc source. The use of the
motor made the application of work much easier in the wider field. Among all the advantages,
this system has the disadvantage of greater speed in regard to time period as per the DC motor.
With the advancement in technology, the invention of the thyristors was made which had the
capability of controlling the greater current in the case of electric power control. By the
application of this thyristors in the dc motors, they were performed for various purposes such
as for the speed control along with the position control of the system which consisted of
greater reliability, higher efficiency along easily controllable properties. In the earlier time
period, the use of method regarding the rheostat armature control had lager range of
application for the controlling of the speed of the DC motor but it consisted of a drawback that
it could perform only for DC motors consisting of lower powers. It did not perform the
operation in the case of greater power DC motors resulting in the problem for the performance
of larger work operations.
1.2 OVERVIEW
The DC motor system was considered as one of the greatest inventions in the case of the
nineteenth century in the case of the dc system. The speed regarding the DC motor was
regarded as a problematic subject as it drained greater current resulting in the higher speed
with the increase in time. So the controlling of the system was regarded as a very essential
aspect in the case of DC motor. In this project, the controlling of the speed of the motor was
performed by the use of the PID controller along with the MRAC controller. The use of the PID
controller was performed as they had the characteristics of easy availability, easy maintenance,
and consisted of lower cost and consisted of greater efficiency. For the improvement of the
performance, as well as, the flexibility of the system, control of automation along with the
motion control, as well as, automation system of the machine is used. Along with the advanced
tool for the operation, computer modeling, as well as, simulation software was used to provide
the effective result of the system. For the simulation process, MATLAB software was used which
consisted of Simulink along with the Sim power system.
1.3 PROBLEMS OF THE STATEMENT
As per the DC motor system, the controlling of the speed was regarded as the important factor
for the proper functioning of the motor and for the proper achievement of the work. But I the
case of DC motor, the controlling of the speed in the greater power was considered to be
impossible as with the time period the current in the system got increased resulting in the
speed of the motor and allowing the dysfunctioning of the system. In the case of DC motor
consisting of the lower power, a method regarding the rheostat armature control was

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performed which had the ability to control the speed. So the design regarding the speed control
of the DC motor in the case of greater power was very essential so as to perform the work of
the motor in an efficient manner. As a result, this project described the theory which used PID
controller along with the MRAC controller with the DC motor which acquired the required
torque-speed characteristics which surely removed the error of oscillation and helped in gaining
adequate speed for the DC motor.
1.4 OBJECTIVE OF THE PROJECT
As the design was conducted, it consisted of various objectives to be met at the completion of
the project. Some of the objectives are listed below

 To provide the necessary method so that the control of the speed of the DC motor could
be performed regarding the higher power.
 To provide the adequate supply regarding the DC system including the function of
control of the rising of the current during the operation of the DC motor.
 To provide the better torque-speed characteristics by the application of the controller
related to PID and MRAC .
 To remove the error in the case of the oscillation during the operation of the DC motor.
 To acquire better reliability, efficiency along with the greater performance of the DC
motor.

1.5 SCOPE OF THE PROJECT

The DC motor was regarded as one of the essential devices in the increment of development.
With the proper control of the speed regarding the DC motor, this device could be used in
wider applications such as in manufacturing machines, in transportation devices, in kitchen
appliances, in construction works, and in almost every field. By the use of the motor, the
performance could be increased by a greater percentage. As by the application of the PID
controller the error in terms of the oscillation could be reduced to zero which means this
system could perform the work in hundred percentages efficient. Also, the speed of the motor
was controlled as per the desired value that resulting in less maintenance of the DC motor and
the effect of a disaster occurring from the greater current was excluded and the damage
regarding the human, as well as, the property could be saved. And with the greater efficiency
obtained from the motor, larger work could be performed resulting in greater profitability in
the system.
1.6 METHODOLOGY
In this topic, the steps performed regarding the operation of the project were presented. In the
initial stage, the introduction part was performed where the previous state of the DC motor
was presented along with its usability in the earlier time period. Then the overviewing of the
system was done that included surface explanation of the methods regarding the project were

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done. Then the problems related to this device were explained including the achievements to
be obtained during the completion of the project. As the objective was presented, the scope
regarding this design was explained where the benefits of this device in the coming future were
presented. After the introduction part, the reviewing of the literature was done where various
project files regarding the device were studied in detail so as to gain an idea regarding the
project and the device. After the completion of the literature part, a detailed explanation
regarding the components and devices was done which was used in the designing of the system
along with the explanation of the terminologies. Followed by the designing part, where various
circuit diagrams were created and the simulation process was conducted. The simulation was
performed on various aspects and we obtained various results as per the applied values. Now
the comparison between various results was performed and along with the comparison of the
result with the acceptable value. Then the discussion part was performed where the success or
the failure of the project was discussed. Then in the conclusion part, the summarized part of
the project was described. The figure below presented the flow chart presenting the
methodology process

introduction

Literature review

Components and terminologies used

Design of the system

Simulation analysis and results

Discussion

conclusion

Fig 1. Flow chart of the methodology

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CHAPTER 2: LITERATURE REVIEW
In the recent period, a method such a computer modeling along with simulation has been
widely applied so that the electric machinery courses could be supported and enhanced.
Software such as MATLAB was used which included the other system such as Simulink, as well
as, Sim power system which was considered to be one of the best software applied for gaining
the steady-state along with the transient characteristics regarding the electric machines. The
main purpose of this project was to obtain the simulation circuits for the process of controlling
the speed of the motor. In this system, generally, three methods regarding the speed control
were described such as armature voltage, as well as, field resistance along with armature
resistance control method and feed-back control method in the case of DC motor drives. From
this system, the torque-speed characteristics regarding the effect of armature voltage along
with field resistance were obtained in the case of DC motor. Along with the torque-speed
characteristics, the characteristics regarding the steady-state along with dynamic analysis
regarding the DC motor was obtained. With the performed project, the knowledge regarding
the operation of the DC motor, as well as, understanding regarding the dynamic system control
along its application areas in the case of speed control of DC motor was presented. (SAFFET
AYASUN, GULTEKIN KARBEYAZ, 12 MARCH 2007)
This system was developed for controlling the angular rate regarding the load of the motor by
changing the input voltage that is applied to the system. This system presented the relationship
between the input voltage (V) and output voltage (Ɵ) by the use of the law of physics. This
system also presented an equation regarding the linear differential which explained the
characteristics regarding the electromechanics in the case of DC motor. the transfer function
was obtained so as to study the reliability regarding the system and for obtaining the design of
the controllers so as to acquire the required design. In this system, the root locus method was
performed as a result a lag compensator was needed to achieve the criteria of the design along
with the placing of poles in the required location. In order to achieve the steady-state
condition, a design of a second lad compensator was performed. From the above designs, the
achievement of 0.844 seconds in the case of settling time along with the 1.91% of percent
overshoot and the steady-state error of 0.1% was obtained. This result was obtained by the use
of a PID controller. In this case, a trial and error approach was performed where the
implementation of PID gains was performed. (SHAMSHIRI, DECEMBER 2009)
This project was conducted for the speed detection along with the DC-link voltage, as well as,
faults regarding the current-sensor in the case of an adaptive observer regarding the inductor-
motor drives. In the case of induction-motor which is generally closed-loop, drives along the
inverters related to voltage as a source employed a speed, as well as, voltage linked to dc
system and a current sensor which were generally two or of three-phase. Here in this system,
the phase current along with the rotor resistance was provided to the decision-making units

10
where the identification of default sensors was performed on the basis of the rule of
deterministic. It also performed the determination of output of sensor which was erroneous in
nature. In this system, the requirement of the bank of observers was not essential and in the
case of isolation regarding the fault of the sensors, the presence of the current observer
including the estimation of rotor resistance was sufficient. This system provided the
effectiveness of the system. (TOORAJ ABBASIAN MAJAFABADI, FARZAD R. SALMASI, P.
JABEHDAR-MARALANI, JUNE 2011)
In the case of the method of the orientation of field in the absence of measurements of the flux
relay on the motor parameter, especially as per the resistance of the time constant related to
the rotor. As the regular changing of the parameters as a function in regard to temperature
caused the regular evaluation of the resistance regarding the rotor in an online form. In the
system, the development of flux observer consisting of fourth-order and in sliding-mode was
done. The use of the two sliding surfaces which presented the current and flux error was
performed so as to apply the estimated current and flux to their actual values. For the process
of driving of sliding surface to zero, a switching function was used. The values regarding the
resistance of the rotor, as well as, inverse regarding the time constant of the rotor was
considered to be the equivalent values in the case of switching functions. This characteristic
was generally applied to measure the value of rotor resistance, as well as, the inverse regarding
the time constant without providing the information regarding the resistance of the rotor or
inductance of the magnetization. (A.B. PROCA, ALI KEYHANI, MAY 2007)
This project was performed to control the speed of the induction motors by the use of an
adaptive observer. Here, a design regarding the robust adaptive output feedback speed
controller which was nonlinear in nature was made in the case of induction motor. Here, the
measurement regarding the position of the rotor, as well as, current and temperature regarding
the stator was done. In this system, for the estimation of the flux of the rotor along with the
resistance of the rotor, an adaptive observer consisting of ninth-order was placed. Similarly, for
the approximation of the rotor speed along with the acceleration according to its position, a
high-gain observer of third-order was placed. In this system, the control was generally robust as
per the unpredictability in the case of parameters of the motor, as well as, load torque which
was time-varying in nature. By selecting the specific design parameters, the error regarding
speed tracking could be minimized. (BADER ALOLIWI, H.K. KHALIL, ELIAS STRANGAS, JULY 1999)
The control regarding the speed of the induction motor was considered to be an essential
factor in the case of the functionality of the motor. This project represented the estimation of
the resistance of the speed, as well as, of the rotor for controlling the torque in the case of
induction motor. In the case of the design of the controller, the measurable value was regarded
to be only of static current along with the voltage signals. In the case of resistance of the rotor,
as well as, speed estimate was acquired by the result of the linear algebraic method along with
the pseudo current and signals of voltage including the visible derivatives in the form of inputs.
In the case of availability of the speed signals, this method could be performed in the case of IM

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tuning consisting of real-time. Also, this proposed technique performed its operation in every
mode of the IM operation. The time limit regarding the proposed technique could be estimated
by the use of the simulation along with its results. (ALEXANDER ZAREMBA, S.V. SEMENOV,
OCTOBER 2000)
This project was conducted on the flatness-based control in the case of buck-converter which
was operated by the motor. The main purpose of this design was to provide an explanation
regarding the control design, as well as, circuit design related to the buck converter which was
operated by a DC motor. In the case of designing, the steps such as the selection regarding the
coil, the application of the devices in the case of switching were discussed at length; all was
dependent on the view regarding the control objective i.e. tracking control regarding the
angular velocity in the case of shaft of the DC motor. The composition of the dynamic system
regardless of either converter or motor was obtained to be flat in nature (differential in nature)
as compared to the flat output which was obtained from the angular velocity. So it was
regarded to obtain the tracking controller of flatness-based that acquired relatable
characteristics as that of trajectory which was smooth in nature as per angular velocity. (FELIX
ANTRITTER, PETER MAURER, JOHANN REGER, SEPTEMBER 2006)
This project was based on developing the starter in a smooth manner in the case of a DC system
that generally used a DC-DC power converter which was controlled by a switch and was of buck
type. This controller was combined with various methods such as passivity-based control along
with the flatness, as well as, the implementation of the modulator of  Σ - Δ in the case of a
controller that is designed on average. This system, implemented the regulation regarding the
speed of the motor shaft that was indirect in process and was conducted by providing the input
current regulation regarding the buck converter circuit. By the use of this method, the
technique related to the sensor of electromechanical velocity was discarded so as to measure
the angular velocity. The simulation regarding this design was performed by the use of P-spice
software. (JESUS LINARES FLORES, HEBERTT SIRA-RAMIREZ, JANUARY 2005)
This paper described the design regarding the control of integrator backstepping along with its
implementation as of the bush of a DC system which performed the work of a one-link robot
manipulator driver. This system used the method of Lyapunov stability-type arguments.
Although this system consisted of parametric uncertainty, the use of this method presented
that all of these controllers provide a better position of load tracking and the uncertainty was
present in the overall system of electromechanical. The obtained results regarding the design
represented showed the reliability along with the feasibility regarding the use of nonlinear
control algorithms. (D.M. DAWSON, J.J. CARROLL, M. SCHNEIDER, OCTOBER 1994)
In this system, many methods consisting of either classical or innovative methods were
described so as to reduce the cogging torque in the case of PM motors which were generally
surface-mounted. Various methods were developed for this operation but this method was
considered to be the best as along with the theoretical explanation, it provided the best
experimental results. In this system, a method of cogging torque which was considered to be a
12
simple original model along with the Fourier analysis was done. From this system, it was
decided that not all the techniques were usable and by the wrong use of the methods, some of
them may get deprecatory with time. (N. BIANCHI, SILVERIO BOLOGNANI, OCTOBER 2002)

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CHAPTER 3: COMPONENTS AND TERMINOLOGIES USED

3.1 POWER SUPPLY

The power supply is referred to as an electrical device that has the specific functionality of
providing the electrical power that is required for an electrical load. The basic work of this
device is for the conversion of electrical current which is generated from the source to the
required current or voltage as well as the required frequency so as to provide the power to the
load. In the case of power supply, some of them are kept aside and are generally considered as
standalone power supply whereas most of them are inbuilt to the device which requires the
power.
3.2 CAPACITOR
The capacitor is referred to as a component that has the ability to store electrical energy in the
case of an electric field. It consists of double terminals and was generally considered a passive
component. Capacitance is referred to as a term that presents the effect regarding the
capacitor. The main function of the capacitor is to provide further capacitance in the case of a
circuit. Generally, the capacitor is composed of a minimum of dual electrical conductors and
that is presented as metallic plates or a layer isolated by a dielectric medium.
3.3 INDUCTOR
The inductor is described as an electrical device containing double terminals which have the
ability to store the energy in the magnetic field in the case of passing of electric current along
with it. An insulated wire is attached along with the coil in the case of the inductor. in the case
of Faraday’s law of induction, it is generally described, the change in coil occurs during the flow
of current along with it, then at that time period an electromotive force is created in the case of
conductor and is caused by a magnetic field which is time-varying in nature. Generally, the
inductor is specified by inductance. The inductance is described as the ratio related to voltage
in regard to the current change.
3.4 RESISTOR
The resistor is considered as an electrical component that has the ability to resist electrical
current in the circuit design. The main purpose of this resistor is this component is used for the
reduction of the flow of current, for the adjustment of signal levels, for the division of the
voltage, biasing the active elements, and also is used in the case of transmission line for the
process of terminating. Various resistors such as consisting of a greater power which hast the
capability of losing the greater power in the form of heat can be generally used in motor
controls. In the case of fixed resistors, the change in resistance occurs in minimum range in the
case of change in temperature or time or in the case of operating voltage.

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3.5 DIODE
In the case of this device, it is defined as an electronic component that has two terminals and
has the ability to pass the flow of current only in a single path. In this system, almost nil
resistance is available in one direction but has greater resistance in another direction. In the
case of a thermionic diode, it is considered as a vacuum tube which consists of double
electrodes commonly known as the heated cathode and the other one is a plate, in which the
electron flow is performed basically in one direction i.e. cathode to the plate. According to the
present situation, the most preferred diode is considered as a semiconductor diode which is
generally considered as a piece of semiconductor material known as crystalline which has a p-n
junction which is further associated with the double electrical terminals.
3.6 DC MOTOR
DC motor is regarded as an electrical motor that has the capability of conversion of electrical
energy in the form of mechanical energy. Generally in all the motors, the mechanism does exist
that has the ability to change the current direction in the case of part of the motor. The
mechanism might be either electronic or electromechanical in form. And generally, most of the
motor depends on the forces that are generated by the magnetic fields. In the case of motors,
they had the ability to get started by the available direct-current lighting of the power system.
The speed of the DC system could be maintained by various techniques such as by the use of
changeable supply voltage, also by replacing the current strength present in the winding of the
fields. The application of the smaller DC motors is in either toys or tools or appliances. In the
case of universal motor that had the ability to be operated on direct current but consisted of
smaller weight brushed motor and was considered for smaller power tools along with other
appliances. In the case of larger motors, they are generally applied to electric vehicles or
elevators and hoists as well in the function of drives in the case of steel rolling mills.
3.7 PULSE GENERATOR
The pulse generator is defined as equipment regarding the electronic test or could be regarded
as an electronic circuit that had the functionality of generation of pulses, generally rectangular
in shape. Generally, these pulse generators perform along with the digital circuits. The pulse
generator is basically of bench pulse generators and optical pulse generators. These pulse
generators are generally operated to perform various devices such as switches, lasers along
optical devices, intensifiers, along resistive loads. In the case of signal generators, the output
obtained from the pulse generator can be used as the signal of modulation. In the case of the
pulse generator, the device which is performing the test can be injected by the pulse and that
can be operated as a clock signal along with the progress of the device, and also denoting the
regular efficient operation regarding the device or detecting the fault in the device.

CHAPTER 4: DESIGN OF THE SYSTEM

15
This project was performed for the controlling of the speed regarding the DC motor by the use
of the smart controller. In this system, various simulation was performed applying the various
values and on various conditions, and the results were obtained. For the process of simulation,
SIMULINK software was used.
4.1 DC MOTOR MODEL
Here, various terms were related such as the resistance of field winding was considered to be R f
and inductance of the motor was denoted by Lf. similarly, in relation to the dynamic model
case, the resistance of the armature was referred to as Ra along with the armature inductance
referred as La. According to the system, the effect considered to be produced by the armature
reaction was considerably discarded and this was caused due to the motor which was related to
the interlopes or generally called the winding of compensation. Since the effect of the reaction
of the armature was discarded resulting in the minimization of the armature reaction which
was mainly caused due to the availability of the compensation winding. Here, according to the
system, the fixed voltage was referred to as Vf, which had the main in gaining of the field
current. According to the DC model, various equations were generated such as
dI a
V a −Eb=R a I a + La (1)
dt
dw m
T m=f m wm + J m (2)
dt

dƟ m d2wm
T m=f m + Jm (3)
dt dt 2
Using the above equation, the equation regarding the S domain was generated such as
Ɵ(s ) Kb
= (4)
V (s ) JLa S + ( R a J + B La ) S 2+ K 2 b + ( Ra B ) S
2

From the above equation, the obtained values are as follows

Ra=….ohm
La=…..H
Kb=….volt/(rad/sec)
J=0.022Kgm2/rad
B=0.5*103Nm/(rd/sec)
From the values obtained above, the equation was acquired as
Ɵ (s) … ..
=
V a (s) … s3 +… s2 +… s

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 Fig. Simulink design for the motor according to transfer function

Fig. Simulink design of DC model according to the transfer function of equation (4)

4.2 DC MOTOR SPEED CONTROL

In the case of proper operation of the design, speed control was regarded as an important
factor. According to the system, with the control of the armature voltage, as well as, by
controlling the current regarding the armature, the controlling of the speed of the DC motor
was performed. Among the many methods for the speed control, the method of flux control
was regarded as one of the methods where speed control was performed by the variation in
the flux per pole. Accordingly, rheostat control was considered as the other method where the
speed control of the motor was performed by varying the resistance Ra consisting of an
armature regarding the DC motor. Similarly, by changing the voltage, the control of the speed
was performed.
The control of the speed regarding the DC motor was performed by applying the methods
described above but there consisted a greater disadvantage regarding the methods i.e. in the
case of controller resistance, a higher amount of power dissipation was performed causing in
excessive loss in the case of efficiency. As it could be seen that with the higher amount of heat
generated during the system, the process of dissipation of this was regardless to be more
difficult along with the use of the higher amount was performed in the process of dissipation.
There also occurred the problem of gaining of lower speed relative to the normal speed which
was considered to be a major disadvantage in the case of the operation of the system. With the
higher disadvantageous qualities, development of the electrical and electromechanical method
was developed so as to acquire higher efficiency, greater performance along the reliability.

17
Regardless of other electronic methods, the technique regarding the smart controller consisting
of PID controller along with the MRAC controller was considered to be the best and was
basically performed for the speed control.

4.3 PID CONTROLLER SPEED CONTROL

This is generally referred to as a proportional integral derivative. This controller was referred to
as the most used controller among the other controller in the case of the industrial field. PID
controller was considered to have many properties i.e. when the controller in case of input was
varied, i.e. D controller, then the reaction obtained was relatively quick. When the control
signal was raised, an error regarding the I controller was observed that relatively led towards
zero. With the error obtained, the step was taken for removing the error from the system, as
well as, in the case of the P controller, the oscillation was generally removed. According to the
system, the mode of derivative was performed so as to perform the greater stability of the
system along with the achievement of the gain Kp. The speed of the controller was directly
proportional to the value of Kp i.e. as per the increae of Kp, the response of the speed of the
controller was obtained in greater value. The output observed of the PID controller was
basically differentiated into three categories such as error integral along with the error signal,
as well as, error derivative. PID controller had the advantage in the case of overall individual
controller i.e. action related to derivative, action related to integral of control as well as
proportional action. The block diagram regarding the PID controller is presented below

Fig . block diagram in the case of PID controller

In the case of the gain coefficient, the effect regarding this coefficient caused many outputs and
this was only possible during the performance of the PID controller. The gain coefficient was
dependent on many factors that included overshoot, steady-state error along with rising time,
as well as, settling time. The table represented below showed the effect of the gain coefficient
during the performance of the PID controller.

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Type Rise time overshoot Settling time Steady-state
error
Kp Decrease Increase Small change Decrease
Ki Decrease Increase Increase Eliminate
Kd Small change Decrease Decrease Small change

4.4 MRAC CONTROLLER SPEED CONTROL

MRAC controller was referred to as the model reference method of adaptive. MRAC controller
was regarded as the reliable technique considering the method of adaptive. The block diagram
in the case of the MRAC controller is shown as

Fig. model reference adaptive method block diagram

By the use of this block diagram, the ym which was considered as the trajectory was acquired;
this was followed by the output of the plant yp. In this system, the error regarding the tracking
was considered to be e=yp-ym. The deviation in accordance with the output was considered as
per the plant and was regarded to be from the expected trajectory. As per the system, the
consideration of the system of closed-loop was done which was referred to have many
mechanisms. Among the various mechanisms, one of them was regarded as control law-related
ordinary feedback and the other was termed as the mechanism of adjustment. According to the
ordinary feedback mechanism, it was based on double components i.e. plant as well as the
controller C(Ɵ). In the same way, in the case of the adjustment method, the gain of the Ɵ(t)
which was considered as a parameter of the controller was performed in the case of line. Since,
in the case of the adaptive algorithm, the performance of larger class was allowed and it

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contained many contents such as least-squares along with the gradients, as well as, all of those
which was based on SPR Lyapunov design.
4.5 DESIGN MODEL OF DC MOTOR SPEED CONTROLLER

Fig Simulink model consisting of DC along with the controller

The Simulink model consisting of the DC model along with the controller was presented in the
figure above. The main function of this system was to acquire the respective speed
characteristics in the case of the DC motor as a result the design was operated in proper
functionality. This system considered the PID controller as its main component and was
considered to be the heart of the device. This system was considered a continuous-time
system.

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CHAPTER 5: SIMULATION ANALYSIS AND RESULT
This project was performed for the controlling of the speed regarding the DC drive by the
application of various controllers. In this system, the simulation regarding the design was
performed along with the various results that were acquired by the application of multiplication
conditions. The simulation process was conducted by using the MATLAB software along with
the simulation and the Sim power system. In this system, the application of 5-horse power (HP)
DC motor was applied and had a voltage of 240V along with the rating of 1220 r/min. the field
resistance of Rf consisting of nominal value was proposed, as well as, the consideration
regarding the inductance in accordance to the field winding was done. As per the simulation of
the design, the graphs obtained are presented below
Fig. DC motor transfer function Simulink model
From the obtained figure above, the graph was presented regarding the transfer function of the
DC system, regarding the speed of the motor according to the time. Here, the presented that as
the time was increased, the increment regarding the speed of the motor was rapid and at a
specific time period the increment was seen almost zero, and gaining the constant speed. From
the figure we could observe that the acquired speed was much greater than the required speed
in the case of the motor.
Fig. simulation model of the transfer function of the DC motor with the current in the armature
The graph obtained presented the relationship between the armature current with the time.
The graph was observed in relation to the transfer function in the case of DC motor. By
observing the acquired graph, as the time was increased to a certain value at the initial phase,
there occurred a rapid decrement in the armature current and after a specific period of time,
the current acquired the constant value.
Fig . Simulink result consisting of DC motor consisting of PID controller
The obtained graph of simulation results was considered to be of the motor performed with the
proposed controller. The graph obtained represented that, during the starting phase of the
motor, the larger value of oscillation was obtained by the amplitude. With the increasing time
period, the increment of the oscillation was decreased and gained almost zero increments
resulting in gaining the constant value of oscillation. In this case, the faster response regarding
the input of the controller according to the increment of the control signal was observed
gaining the constant value and the nil error was achieved so that the elimination of the
oscillation was performed. By the increment of the stability, the gain K p was increased
accordingly resulting in the improvement of the speed of the response of the controller.
Fig. Simulink model presenting the motor including the PID along with the MRAC method
The figure represented above described the Simulink result obtained for the DC motor which
performed on both the model PID, as well as, MRAC model. From the figure obtained above,

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the acquired pulse was considered to be linear. By the operation, op PID controller the error
presented was deduced to the negligible range and was considered to be done on the negligible
time period in accordance to the DC motor which consisted of PIS including MRAC model. Also,
the achieved speed was in accordance with the required value.

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CHAPTER 6: DISCUSSION
In this system, a method of hybrid PID-MRAC was proposed. According to this design, the
application of the PID along with the MRAC controller was done to acquire the required speed
in the case of the motor. The design was basically based on the two methods i.e. control
method, as well as, gradient descent method. The function of the simulation was conducted by
the use of MATLAB which consisted of Simulink. With the presence of the PID controller along
with the MRAC controller, the increment in the response was performed in the case of the
speed regarding the DC motor, and this function was regarded as one of the advantageous
factors of this system. The older methods of speed control were overruled by the use of the
advanced method known as the electronic method which used PID controller along with the
MRAC controller to overcome the disadvantages such as increment in the flexibility of the
system, less consumption in the case of energy, minimize error, greater efficiency, as well as,
greater safety factor than the previous system. The result was acquired on various factors as
the simulation was performed on various factors. As per the result, the graph in the case of DC
mode transfer function presented the greater increment in the speed along with the increment
of the time. In the case of armature current along the time, as the time period was increased,
there occurred the reduction in the current to a certain value and gained the constant value.
With the output regarding the DC motor along with the PID controller, there occurred the zero
in oscillation in the increase in time, and the value of steady-state was obtained. When the
graph regarding the PID along with the MRAC controller was obtained, the speed seemed to
gain linear pulse according to the time and the gain of zero error was acquired and finally, the
required speed was obtained.

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CHAPTER 7: CONCLUSION
This design was conducted mainly for maintaining the speed regarding the motor by the use of
controllers. process of the simulation was performed on MATLAB software which included
Simulink. In this system, the older methods of speed control were replaced by the newer
electronic methods which had the properties of lesser cost, greater feasibility, and greater
efficiency. By the operation of the PID controller, as well as, MRAC controller, the result
achieved was improved quality of speed of the DC motor and could be controlled as per the
requirement. Various simulations were conducted according to the various values given and the
result was obtained accordingly.
7.1 ADVANTAGES
As the project was performed for achieving the required speed of a motor by the use of a smart
controller, it consisted of various advantageous factors which are presented as below:

 The methods used in this system such as PID controller along with MARC controller
consisted of greater efficiency.
 The requirement of the energy was considered to be less as compared to other systems.
 The error in the case of oscillation was solved by the introduction of the PID controller
as well as appropriate processes were conducted for discarding of oscillation.
 The maintenance was considerably less and was cheaper and the system was generally
more reliable relative to other systems of speed control.
7.2 DISADVANTAGES
As the system was regarded as the best method for the speed control of the DC motor but
along with its advantages consisted of various disadvantages which are presented as follows:

 Basically, this system consisted of multiple controllers; the circuit regarding the system
was complex and was unable to understand by the users.
 With the application of various controllers such as PID controller and MRAC controller,
the system was relatively expensive in the case of cost than other systems of the
controller.

7.3 FUTURE RECOMMENDATION

In the case of controlling the speed, the application of the PID along with the MARC controller
was regarded to be the best method among all others. According to the system operation, the
PID controller that was being used performed the operation of the minimization of oscillation
to almost zero value. In this system, the introduction of the power electronic converter could
be performed which could operate as a DC source resulting in the improvement of the

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reliability of the system. With the increment in efficiency, the cost regarding the system could
be deduced. And the complexity regarding the circuit could be reduced a bit.

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SAFFET AYASUN, GULTEKIN KARBEYAZ. (12 MARCH 2007). DC MOTOR SPEED CONTROL METHODS
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