A Remote LaboratoryExperiment for 4-QuadrantControl of a DC Motor

ERDAL IRMAK,1 RAMAZAN BAYINDIR,1 ILHAMI COLAK,1 MUSTAFA SOYSAL2

1GEMEC-Gazi Electric Machines and Control Group, Faculty of Technical Education,

Department of Electrical Education, Gazi University, Ankara, Turkey

2Department of Electric, Iskitler Vocational High School, Iskitler, Ankara, Turkey

Received 3 November 2008; accepted 6 April 2009

ABSTRACT: This study presents development of the system architecture to perform

laboratory experiments over the Internet for electrical engineering education. Design and

implementation of four-quadrant speed control experiment for a direct current (DC) motor is

given in the article as a sample remote experimental study. The system designed consists of

four main parts as a client, a server, a data acquisition unit and an experimental set with a

control unit. MATLAB web server (MWS) is used to send and receive data or graphics over

the Internet. While the experiment is being operated, the real experimental set placed in

the laboratory can be monitored by the remote user. Evaluation results show that the

system designed accelerates the learning period, increases the concentration on the

experiment and provides a safe environment for four-quadrant speed control experiment of

a DC motor. �2009 Wiley Periodicals, Inc. Comput Appl Eng Educ; Published online in Wiley InterScience

(www.interscience.wiley.com); DOI 10.1002/cae.20361

Keywords: web-based laboratory; remote experimentation; real-time systems; DC motor;

speed control

INTRODUCTION

Remote laboratories are increasingly being gained

popularity according to rapid developments of the

Internet technology. Since they can be considered

as a serious alternative to the classical local

laboratories, many institutions all over the world use

remote laboratory techniques. Thanks to the remote

laboratories, increasing learners’ motivation and

enhancing learning effect can be provided. Remote

laboratories offer users to use more expensive

laboratory devices which cannot be available in

conventional local laboratories because of the hard-

ware inadequacy, to access them without time and

place limitation, to share these devices with more

people geographically remote located, to ensure a safe

laboratory environment.

Recently, usage of the web-based laboratory

in engineering education has been growing. A lot ofCorrespondence to I. Colak (icolak@gazi.edu.tr).

� 2009 Wiley Periodicals Inc.

1

examples on web-based laboratory can be found

in literature. Some examples area applied for

remote laboratories are chemical engineering [1],

numerically controlled machining [2], torsion

laboratory [3], a greenhouse scale model [4], a virtual

instrument detecting spatial saliencies in induction

machines [5], the automatic control of interconnected

tanks [6] and a virtual laboratory for neuro-fuzzy

control of induction motors [7]. In addition, recently,

several architectures and several techniques have been

presented to develop a remote laboratory for electrical

engineering education [8]. In Ref. [9], a distance

programmable logic controller (PLC) programming

course employing a remote laboratory is introduced.

The system is based on a flexible manufacturing cell

and the problem proposed for the students is the

automation of such a cell with commercial PLCs.

Similarly, another remote laboratory facility is also

presented in Ref. [10] in which PLCs and oscillo-

scopes are fully integrated into the same industrial

network combined with a supervisory control and data

acquisition (SCADA) supervision system. The first

computer works as a system supporter and the other

one works as a system controller. In Ref. [11], an

extending network communication module is applied

to the traditional electrical machine control unit

and J2EE Platform technology is used in electrical

machine control. A subminiature permanent direct

current (DC) motor is connected to the server via

RS232 serial port and is also used as an object for

remote control. In Ref. [12], development and

experimental evaluation of an e-laboratory platform

in the field of robotics are presented. In the study, the

results of a pilot experimental study are also presented

providing a comparative evaluation for three training

modalities, which are real, remote, and virtual training

on robot manipulator programming. Similarly, remote

robotic laboratories are also studied in Ref. [13]

presenting control of a web-based semi-autonomous

mobile robot, in Ref. [14] introducing virtual

control of an industrial robot, in Ref. [15] showing

mobile robotics virtual laboratory, and in Ref. [16]

describing Internet-based telerobotic system. A dif-

ferent approach for remote laboratories is presented in

Ref. [17]. The article proposes different, low-cost

solutions for integrating a remote laboratory in a

hypertext of electrical measurement and shows how

they have been implemented in the realization of a

remote experiment on a three-phase three-terminal

load. A virtual laboratory is also presented in Ref.

[18] that gives the possibility of study on the grid

connection of a synchronous generator. In Ref. [19],

the development of an Internet-based remote-access

control system is presented and a DC motor control

experiment is given as an example to illustrate the

design presented. The system is composed of an

internal distributed system and an application system

linked by a data acquisition interface card. Similarly,

remote DC motor experiments operated over the

Internet are also presented in Refs. [20�22]. Several

remote laboratory applications for electrical machines

experiments can also be found in Ref. [23] presenting

two laboratory experiments as an AC motor control

application and a web-based temperature measure-

ment, in Ref. [24] introducing digital signal processor

(DSP)-based control schemes for motor drive appli-

cations and control system for 3-phase brushless

DC motor, in Ref. [25] describing a distance learning

system which includes theories and operation

experiences of electric machinery experiments, and

in Ref. [26] performing a prototype client-server

system for remotely conducting experiments on

brushless DC motors.

In this article, development of the system

architecture to perform laboratory experiments over

the Internet for electrical engineering education is

presented. Since DC motors are widely used as an

actuator in industrial applications because of their

wide adjustability range and understanding the

DC motor behaviors is a useful study for analysis

and control of many industrial applications as well,

four-quadrant speed control experiment for a DC

motor is given as a sample remote experimental study

for the purpose of illustrating the system designed.

Although, several remote laboratory applications

about the DC motors have been presented in the

literature recently, web-based four-quadrant control

operation with real-time experiments has not been

studied in detail. Another difference of the system

presented in this study is usage of the MATLAB with

its powerful numeric computation capabilities, highly

sophisticated visualization and graphic tools for

analyzing operations. Although MATLAB has been

already used for the virtual and remote laboratory

applications recently [27�34], an Internet-based

remote electrical machines laboratory based on

MATLAB and its web server toolbox has not been

studied. Authors have tested the system architecture

developed for different applications recently and the

results obtained from the tests have also been reported

in Refs. [35�37]. As a difference from the other

studies achieved by the authors, a more detailed and

more complex architecture including remote experi-

mentation is described in this article.

The system developed accelerates the learning

period with its interactive frame as well as instructive

structure, increases the concentration on the experi-

ment due to visual feedbacks, decreases the faults

2 IRMAK ET AL.

because of using quite powerful and flexible hardware

units, and finally provides a safe experimental

environment on account of its secure structure isolated

from dangerous conditions such as high voltage

and rotating equipments. Consequently, a web-based

real-time and open laboratory has been presented

that offers to researchers and students not only

learning and using latest technologies and concepts

but also realizing, controlling, monitoring, recording,

discussing, and testing remote applications.

SYSTEM ARCHITECTURE

Since the main objective of this study is to perform

laboratory experiments over the Internet, a common

client/server architecture is constituted. A simplified

block diagram of the system is given in Figure 1.

Thanks to the system architecture designed, all

operation steps are executed from the server while

the experiment is being operated remotely, so

clients do not need to install any additional software.

This is important for clients. Because, most of the

Internet users are accustomed to use web pages by

simply clicking their mouse on the links, and they do

not want to download any software due to possibility

of virus infections. In this regard, the system

developed in this study can be accepted by most

people.

Four-quadrant speed control experiment for a

separately excited DC motor is prepared in this

article as a sample remote experimental study to

illustrate the system developed. DC motors, as

components of electromechanical systems, are widely

used as actuating elements in industrial applications

for their advantages of easy speed and position control

and wide adjustability range [38,39]. Consequently,

examination of DC motor behavior constitutes a

useful effort for analysis and control of many practical

applications [39�41]. Speed control of DC motors

can be implemented easily by changing armature

voltage. In this study, a four-quadrant motor control

unit is designed firstly to achieve the speed control

operation of the DC motor. The control unit designed

consists of a control circuit given in Figure 2, a

PIC18F4520 microcontroller used for generating

PWM signals, an LCD used for local monitoring, a

full bridge converter used for removing dead time

delay, and other necessary circuits and equipments.

Figure 3 depicts the control unit developed. It has

been tested with various experiments and results

obtained from the tests have been reported by the

authors recently, so more detailed information about

the control circuit can be found in Ref. [42].

Data transferring operations between the server

and the experimental set are achieved via a powerful

data acquisition (DAQ) board. The DAQ board is

placed on the PCI bus of the server. Control

commands required for operation are produced and

data obtained from the experimental set are measured

by the DAQ board in real time. MATLAB software

and its MWS toolbox are used for processing data on

the server and to communicate the server and client

in order. Additionally, a web camera and a network

camera transferring the frames captured to the Internet

directly with high-speed and high-resolution are used

for remote monitoring during the experiment is being

operated. A detailed block diagram of the system

architecture designed is given in Figure 4.

IMPLEMENTATION OF THE SYSTEM

The primary goal of this study is to develop an

advanced platform applicable to e-learning environ-

ments that allows students to perform laboratory

experiments from remote locations. In the study, a

remote laboratory experiment for four-quadrant speed

control of a DC motor is selected as a pilot study. The

system developed has been implemented at Gazi

University in Turkey. Figure 5 illustrates the complete

appearance of the experimental set which can be

accessed and performed over the Internet.

Figure 1 A simplified block diagram of the system

designed. [Color figure can be viewed in the online issue,

which is available at www.interscience.wiley.com.]

A REMOTE LABORATORY EXPERIMENT 3

The operational treatment of the system can be

investigated in four separate units as the client, the

server, the DAQ board and the DC motor control

unit. Although each unit executes different tasks,

all of them interact with each other continuously.

Figure 6 shows a simplified flowchart for remote

experimentation and tasks performed from each unit.

Tasks performed from each unit can be summarized as

following:

Client connects to the server firstly. Since web

pages about the experiment can be visited only by the

registered users, one who wants to use the system on a

client PC must register the system using the member

entrance system. Once the user successfully logins the

system as a client, he/she can open either the remote

experimentation page directly or the theoretical

information pages to obtain some information about

the experiment before performing it. On the remote

experimentation page, the user sets the operational

parameters and sends them to the server. Results

obtained are shown on the user’s screen as graphical

format automatically after finishing the experiment.

The user can repeat the experiment again and again if

he/she desires.

Server responses the remote connection requests

sent from clients and checks users who want to

enter the system as registered or not. It serves either

the theoretical information pages or the remote

experimentation page according to the preferences

of users. When a user wants to perform experiment

remotely, server receives operational parameters

set from the user on the remote experimentation

page. Then it transfers data just received into the

MATLAB m-file written previously via the MWS.

The m-file is the main application software and

includes application routines. Analog input (AI)

object for reading data on the experimental set

and digital input/output (DIO) objects are created

automatically by means of DAQ toolbox. The

experimental set is controlled from the DIO object

and data measured are read from the AI object

continuously as long as the experiment is being

operated. When the experiment is finished, the

server plots figures using data received from the set,

Figure 2 Speed control circuit for four-quadrant DC motor.

Figure 3 Control unit designed. [Color figure can be viewed in the online issue, which is available

at www.interscience.wiley.com.]

4 IRMAK ET AL.

converts them into the JPEG format and sends them to

the client respectively.

The DAQ board is activated and controlled from

the server according to the commands into the m-file.

A connection is established between the server and the

experimental set via the DAQ board after the DIO

object starts to run. DIO subsystem of the board sends

signals to the experimental set and the set starts to

operation instantly. Once the operation is started, AI

subsystem of the DAQ board is activated and receives

data from the experimental set. Both subsystems of

the board are deactivated from the server after the

experiment is completed.

The Experimental Set is self-controlled by the

PIC18F4520 microcontroller with 4 pulse width

modulation (PWM) outputs as described in System

Architecture Section. Recently, PIC series micro-

controllers have been used for motor control applica-

tions as well as industrial applications in several

studies and it has been reported that the results

obtained were quite satisfactory [43�46]. In the

system developed, when a signal is received from

the DAQ board that declares starting of operation,

PIC18F4520 starts to produce PWM signals and

applies them to the driver circuit. Thus, DC motor

starts to run. Thanks to the PWM signals produced

from the PIC for speed control as well as the direction

signals produced from the PIC similarly for changing

Figure 4 A detailed block diagram of the system

architecture designed. [Color figure can be viewed in the

online issue, which is available at www.interscience.wiley.

com.]

Figure 5 Complete appearance of the experimental set.

[Color figure can be viewed in the online issue, which is

available at www.interscience.wiley.com.]

A REMOTE LABORATORY EXPERIMENT 5

the direction of the motor, the motor runs in the four

quadrants respectively. The PWM signals, the motor

current, the voltage, and the speed values are

measured and then collected in PIC during operation

of the motor. A current transformer, a voltage

transformer, and an encoder are used for these

measurements. These values measured are transferred

to the server via the AI subsystem of the DAQ board.

When a signal is received that declares finishing

of operation, PIC resets all signals to the initial

conditions to get ready for next operation.

The experimental set also includes a special

measurement device. This device is connected to the

DC motor and it measures the speed and the torque of

the motor in real time. The measured values are

displayed on LCD screens of the device. One of the

cameras used in the system developed in this study

monitors the screen of the measurement device

continuously. Thus, the remote users can see the

real-time operation values of the motor.

EXPERIMENTAL RESULTS

Web-based operation of the four-quadrant speed

control experiment of a separately excited DC motor

Figure 6 A simplified flowchart for remote experimentation.

6 IRMAK ET AL.

is given in this part. Parameters of the DC motor

used in this study are 2 kW, 110 V armature voltages,

5 A armature current, 170 V excitation voltage, 1.5 A

excitation current, and 1,200 rpm speed.

Firstly, an online course is prepared for DC

motors including not only remote experimentation,

but also theoretical presentations, animations, and

simulations. Figure 7 shows a sample theoretical

presentation page designed.

Thanks to the e-course platform developed,

students can learn important and critical information

about the DC motors and they can do preliminary

studies before performing the experiment. Basic

HTML commands and PHP techniques as well as

several animation and graphic programs are used

in the theoretical information pages. Additionally, a

simple and reliable member management system is

designed. Thus, usage of the system is only allowed to

the registered users.

Once a user is ready for performing the experi-

ment, he/she can open the HTML input page designed

for remote experimentation. This page is designed as

quite simple and comprehensible for facilitating the

learning.

If the user desires, he/she can monitor the real

laboratory environment as well as the experimental

set from two different points remotely. For this aim,

the user should simply click on the Camera1 and

Camera2 links on the page. One of these cameras is a

standard web camera. The other one is a network

camera, so it operates independently from the server

and transfers captures to the Internet directly with

high speed and high resolution. The first camera

(web camera) monitors the general appearance of the

experimental set and the DC motor. Thus, users can

easily comprehend whether the motor is rotating or

not while the remote experiment is being operated

over the Internet. The second camera (network

camera) monitors the measurement devices. Thus,

the real-time operating values of the motor such as the

speed and the torque can be seen on the window

belonging to the second camera.

Figure 8 shows the HTML input page designed

for the remote experimentation. The user determines

and inputs parameters for operation on this page

and clicks on the Submit button. A connection is

established between the client computer and the

server after the Submit button is clicked on. Then,

Figure 7 A sample theoretical presentation page from the e-course. [Color figure can be viewed in

the online issue, which is available at www.interscience.wiley.com.]

A REMOTE LABORATORY EXPERIMENT 7

all operation steps as described in previous section are

executed from the server respectively. The HTML

input page also includes some useful hints as well as

the experiment procedure about the remote experi-

ment. Thus, the user can get information about the

operation before starting it.

Figure 9 shows the appearance of the web page

while the experiment is being operated from the

server. As shown on this figure, the experimental

operation executed from the server can be monitored

from the cameras. In the web page, a message box is

also appeared that is named as ‘‘Server Message.’’

Some information is given in this message box

including goings-on about the online operation. For

instance, if the experiment is being used from another

user at the same time, a warning message is appeared

in the message box automatically. Likewise, if the

experimental set is out of order due to a hardware

problem, the message box is used to inform the users

about the problem.

When the operation is completed, the HTML

result page is appeared on the monitor of the remote

user’s screen immediately. This result page includes

graphics which are plotted from the server using real

data measured from the experimental set. Several

graphics are generated and sent to the client related to

the experimental study such as the motor current, the

voltage, and the PWM signal generated for speed

control. These graphics are converted to the JPEG

format before they are sent to the client using

wsprintjpeg function of the MWS. Since the graphics

are as picture format, users can easily save them into

their PCs.

Figures 10�12 illustrate sample HTML result

pages including graphics plotted and sent to user after

a sample remote experimentation session. For this

session, the experimental set is activated over the

Internet along 5 s. According to choice of the user,

three different graphics are plotted by the server and

sent to user after the experimental session is finished.

These graphics are belonging to motor voltage, motor

current, and speed.

As seen in the Figures 10 and 11, the DC motor

operates in four quadrants. Namely, the motor

operates in Quadrant I (forward motoring) between

approximately 0.9 and 1.9 s where the motor voltage

and the motor current are in positive region. The

supply voltage is about 170 V and the motor current

drawn from supply is about 1 A during the steady-

state operation between 1.2 and 1.9 s. If the supply

voltage is cut off while the field current is still

available, the motor operates in Quadrant II (forward

Figure 8 HTML input page for remote experimentation. [Color figure can be viewed in the online

issue, which is available at www.interscience.wiley.com.]

8 IRMAK ET AL.

Figure 10 HTML result page including current graphic. [Color figure can be viewed in the online

issue, which is available at www.interscience.wiley.com.]

Figure 9 Appearance of the web page while the experiment is being operated. [Color figure can be

viewed in the online issue, which is available at www.interscience.wiley.com.]

A REMOTE LABORATORY EXPERIMENT 9

regenerating) between approximately 1.9 and 2.1 s

where the current is in negative region. Due to the

kinetic energy stored in the rotating mass, the motor

operates as a generator and feeds the loads. But, the

voltage produced during the Quadrant II decreases to

zero due to friction and windage losses of the motor.

In Quadrant III (reverse motoring) between about

3.1 and 4.2 s, the motor voltage and the motor

current are in negative region. Absolute values of

supply voltage and current in Quadrant III are

same as in Quadrant I. Finally, the motor operates

in Quadrant IV (reverse regenerating) between about

4.2 and 4.4 s in where the current is in positive region.

Similar to Quadrant II, the generated voltage reduces

to zero in Quadrant IV due to mechanical losses as

well as friction and windage losses of the motor.

The experimental set developed offers not only

four quadrant operation experiment but also speed

control experiment. For this aim, a PIC18F4520

microcontroller is used for generating PWM signals

that adjust the voltage value applied to the motor, so

the speed is controlled. The speed control operation

can be achieved at both no-load and loaded working

conditions. The interface used for this operation is

presented in the Figure 12. As seen in the figure

clearly, users should sign the relevant check-box

Figure 11 HTML result page including voltage graphic. [Color figure can be viewed in the online

issue, which is available at www.interscience.wiley.com.]

Figure 12 An extended appearance of the HTML input page. [Color figure can be viewed in the

online issue, which is available at www.interscience.wiley.com.]

10 IRMAK ET AL.

according to their own request about achieving loaded

or no-load experiment. Figure 13 presents HTML

output page and speed graphics for sample operational

sessions. It must be considered that, these graphics

are acquired from different sessions according to

Figures 10 and 11. As seen on the graphics given in

the Figure 13, when the motor is operated as loaded,

duration of the quadrant 2 and quadrant 4 are quite

short (approximately 0.05 s). On the other hand, when

the motor is operated as unloaded, duration of the

quadrant 2 and quadrant 4 are longer (approximately

0.4 s).

CONCLUSIONS

Design, development, and implementation of remote

laboratory application for electrical engineering

education are presented in this article. Four-quadrant

speed control experiment for a separately excited DC

motor is selected and realized as a sample laboratory

session to illustrate the functional process of the

system architecture.

Since most of the Internet users refrain from

downloading any special software on web pages,

workload on the client has been minimized by means

of authentic system architecture designed. Thanks to

the system developed, all operations are executed

from the server. Conversely, most of the remote

laboratory applications presented in the literature use

special software such as LabVIEW, Java applets, and

ActiveX. Usage of these software units requires

downloading and installing some special programs

or plug-ins. Disadvantage of using such applications is

not only hesitations felt by the users as just mentioned,

but also the slow response time occurred when the

experiment is being operated in real time according to

network conditions as well as hardware specifications

of the remote PC used for operation.

Furthermore, MATLAB is used for computing,

analyzing, and plotting the data obtained from the

experiment. As compared with the other software

such as Java, LabVIEW, and ActiveX used for such

applications in the literature, MATLAB is more

accomplished than others with its powerful numeric

computation capabilities, highly sophisticated visua-

lization and graphic tools for analyzing systems. It

must also be considered that the remote users do

not need either any MATLAB experience or to have

MATLAB running on his/her local computer. Addi-

tionally, since all of the graphical results about the

experimental operation are as the JPEG format, they

can be easily downloaded by the users for later use

such as comparison with different input parameters.

Data transmission between the server and the

experimental set has been provided via a powerful

DAQ board. Thus, the system developed is capable of

acquiring quite sensitive measurements and success-

Figure 13 Extended appearance of the HTML result page for speed graphics. [Color figure can be

viewed in the online issue, which is available at www.interscience.wiley.com.]

A REMOTE LABORATORY EXPERIMENT 11

fully observing transient behaviors of the system

as well. Generally, giving an opportunity for each

student to acquire such sensitive measurements is not

possible in classical hands-on laboratories due to

hardware inadequacy.

Another advantage of the system presented in the

article is to provide visual feedbacks for remote users.

The experimental set and real laboratory environment

can be monitored remotely by two cameras. One

of the cameras used in the system is a network camera

and it transfers captures to the Internet directly as in-

dependent from the server. Therefore, not only stream-

ing frequency of the frames for remote monitoring

operation is increased, but also workload of the server

and response time of the system are decreased.

Although the system designed has superior and

considerable features, there are a few disadvantages

for the current structure. For instance, the experiment

cannot be performed more than one user at any time.

Since the MATLAB-GUIs are not supplied from

MWS, more interactive and visual interfaces for the

web pages about the remote experimentation cannot

be constructed. The authors currently endeavor to

eliminate these deficiencies.

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BIOGRAPHIES

Erdal Irmak was born in Turkey in 1976.

He graduated from the Department of

Electrical Education of Gazi University in

1997. He received his Master of Science

(MSc) in 2001 and his Doctor of Philosophy

(PhD) Degree in 2007 from the Institute of

Science and Technology of Gazi University,

Turkey. He is currently a lecturer at Depart-

ment of Electrical Education at Faculty of

Technical Education, Gazi University. His main research area

covers virtual and remote laboratory applications, internet based

distance education, web based control, simulation and modeling of

electrical machines.

Ramazan Bayindir was born in Turkey in

1970. He received the B.Sc., M.Sc., and

Ph.D. degrees in electrical education from

Gazi University, Ankara, Turkey, in 1992,

1998, and 2002, respectively. He is currently

an Associate Professor in the Department of

Electrical Education, Faculty of Technical

Education, Gazi University. His current

research interests include power factor cor-

rection, microcontroller, programmable logic controller (PLC)

programming, and automation systems.

A REMOTE LABORATORY EXPERIMENT 13

Ilhami Colak was born in Turkey. He

graduated from the Department of Electrical

and Electronics Education of Gazi University

in 1985. He received his Master of Science

(MSc) Degree from the Institute of Science

and Technology of Gazi University in 1988

and his Master of Philosophy (MPhil) Degree

from the Department of Electrical and

Electronics Engineering of Birmingham

University in Birmingham, UK in 1991 and his Doctor of

Philosophy (PhD) Degree from the Department of Electrical

Engineering of Aston University in Birmingham, UK in 1994. He

has been the Head of Power System Education Group of Gazi

University since 1995. He became a full Professor at Gazi

University in 2005 and is currently the Head of Electrical

Education. His main research area covers electrical machines,

power electronics, distance education, artificial neural networks,

alternating energy sources and automatic control.

Mustafa Soysal was born in Turkey in 1976.

He graduated from the Department of

Electrical Education of Abant Izzet Baysal

University in 1999. He received his Master of

Science (MSc) in 2007 from the Institute of

Science and Technology of Gazi University,

Turkey. He is currently a teacher at Depart-

ment of Electrical Education at Iskitler

Vocational High School. His main research

area covers electrical machines, power electronics and automatic

control.

14 IRMAK ET AL.