A SIMULATION BASED MINOR PROJECT REPORT

on

DC MOTOR MODELING

by

Sudhanshu Kumar Verma (1403221104)

Vinay Kumar Chaudhary(1403221116)

Submitted to the Department of Electrical and Electronics Engineering

in partial fulfillment of the requirements

for the degree of

Bachelor of Technology

in

Electrical and Electronics Engineering

ABES Engineering College, Ghaziabad

Dr. A.P.J Abdul Kalam Technical University, Uttar Pradesh, Lucknow

November,2016

TABLEOFCONTENTS

DECLARATION………………………………………………………………….. I

ACKNOWLEDGEMENTS………………………………………………………. Ii

LIST OF TABLES…………………………………………………………………. IiiLIST OF FIGURES………………………………………………………………… Iv

LIST OF SYMBOL………………………………………………………………… V

LIST OF ABBREVIATIONS……………………………………………………… Vii

CHAPTER 1 (DC MOTOR) 1

1.1. WORKING PRINCIPLE 5

1.2. TYPES OF DC MOTOR 81.2.1 DC SHUNT MOTOR1.2.1 DC SERIES MOTOR 10

1.2.2 DC COMPOUND MOTOR 12

CHAPTER 2 (MATLAB MODEL OF DC MOTOR) 18

2.1 SHANT MOTOR MODEL 18

2.1.1 MODELLING EQUATIONS OF DC SHUNT MOTOR

2.1.2 SAMPLE PARAMETERS 23

2.2

2.1.3 RESULTS

SERISE MOTOR MODEL24

APPENDIX A………………………………………………………………………. 26

REFERENCES……………………………………………………………………… 30

DECLARATION

We hereby declare that the project work entitled “DC motor modeling” submitted to the

ABES Engineering College is a record of and original work done by us under the

guidance of “Dr. Javed Dhillon (PhD)” , Senior Assistant Professor, Dept. of Electrical

and Electronics Engineering in ABES Engineering College and this project is submitted

in partial fulfillment of the requirement for award of the degree of B.Tech in Electrical

and Electronics Engineering.

Signature:

Name : Sudhanshu Kumar Verma

RollNo.: 1403221104

Date :

Signature:

Name : Vinay Kumar Chaudhary

RollNo.: 1403221116

Date :

ACKNOWLEDGEMENT

It gives us a great sense of pleasure to present the report of B.Tech Project undertakenduring B. Tech. Third Year. We, Sudhanshu Kumar Verma and Vinay KumarChaudhary third year student of Electrical and Electronics branch owe special debt ofgratitude to Dr. Javed Dhillon (PhD), Department of Electrical and ElectronicsEngineering, ABES Engineering College, Ghaziabad for his constant support andguidance throughout the course of our work. His sincerity, thoroughness andperseverance have been a constant source of inspiration for us. It is only his cognizantefforts that our endeavors have seen light of the day.

We also do not like to miss the opportunity to acknowledge the contribution of all facultymembers of the department for their kind assistance and cooperation during thedevelopment of our project. Last but not the least, we acknowledge our friends for theircontribution in the completion of the project.

Signature: Name : Sudhanshu Kumar Verma

RollNo.:1403221104

Date :

Signature: Name :Vinay Kumar Chaudhary

RollNo.: 1403221116

Date :

ABSTRACT

The project describes a method of modeling and simulation of DC motor i.e DC shunt and

DC series motor which is implemented in MATLAB R2013b..The project reveals the

characteristics of angular velocity and time, torque and time and current and time of DC

motor .

The project has used different parameter of dc motor as per requirement .The parameter

used are armature inductance, armature resistance, field resistance and field inductance

etc .The simulation result gives the graph of torque, angular velocity, current with respect

to time .It’s result indicates that the created simulation blocks in the MATLAB model

similar to dc motor model

CHAPTER 1

INTRODUCTION

A DC motor is any of a class of electrical machines that converts direct current electrical

power into mechanical power. Nearly all types of DC motors have some internal mechanism,

either electromechanical or electronics, to periodically change the direction of current flow in

part of the motor. Most types of DC motor produce rotary motion; a linear motor directly

produces force and motion in a straight line.

DC motors were the first type widely used, since they could be powered from existing direct-

current lighting power distribution systems. A DC motor's speed can be controlled over a wide

range, using either a variable supply voltage or by changing the strength of current in its field

windings. Small DC motors are used in tools, toys, and appliances. Larger DC motors are used

in propulsion of electric vehicles, elevator and hoists, or in drives for steel rolling mills.

Figure 1: DC MOTOR1.1 WORKING PRINCIPLE OF DC MOTOR

In any electric motor, operation is based on simple electromagnetism. A current

carrying conductor generates a magnetic field; when this is then placed in an external

magnetic field, it will experience a force proportional to the current in the conductor,

and to the strength of the external magnetic field.

Figure 2: Working of dc motorThe very basic construction of dc motor contains a current carrying armature which is

connected to the supply end through commutator segments and brushes it is placed within the

north south poles of a permanent or an electro-magnet.

The operating principle of dc motor its important that we have a clear understanding of

Fleming’s left hand rule to determine the direction of force acting on the armature

conductors of DC motor. Fleming’s left hand rule says that if we extend the index finger,

middle finger and thumb of our left hand in such a way that the current carrying conductor is

placed in a magnetic field (represented by the index finger) is perpendicular to the direction of

current (represented by the middle finger), then the conductor experiences a force in the

direction (represented by the thumb) mutually perpendicular to both the direction of field and

the current in the conductor.

1.2 TYPES OF DC MOTOR

There are three basic types of dc motors:

(1) Series motors.

(2) Shunt motors.

(3) Compound motors.

They differ largely in the method in which their field and armature coils are connected.

1.2.1 SHUNT MOTOR

In the shunt motor the field winding is connected in parallel or in shunt with the armature

winding. The resistance in the field winding is high. Since the field winding is connected

directly across the power supply, the current through the field is constant. The field current

does not vary with motor speed, as in the series motor and, therefore, the torque of the shunt

motor will vary only with the current through the armature. The torque developed at starting is

less than that developed by a series motor of equal size.

Figure 3: Circuit of shunt motor

The speed of the shunt motor varies very little with changes in load. When all load is removed,

it assumes a speed slightly higher than the loaded speed. This motor is particularly suitable for

use when constant speed is desired and when high starting torque is not needed.

By applying KCL at the junction A in the above figure.

The sum of the incoming currents at A = Sum of the outgoing currents at A.

Where,

I is the input line current

Ia is the armature current

Ish is the shunt field current

Equation (1) is the current equation.

The voltage equations are written by using Kirchhoff’s voltage law (KVL) for the field winding circuit.

For armature winding circuit the equation will be given as

1.2.2 SERIES MOTOR

In the series motor, the field windings, consisting of a relatively few turns of heavy wire, are

connected in series with the armature winding. Both a diagrammatic and a schematic

illustration of a series motor. The same current flowing through the field winding also flows

through the armature winding. Any increase in current, therefore, strengthens the magnetism

of both the field and the armature.

Because of the low resistance in the windings, the series motor is able to draw a large current

in starting. This starting current, in passing through both the field and armature windings,

produces a high starting torque, which is the series motor's principal advantage.

Figure 4: Circuit of series motor

By applying the KCL in the above figure.

Ise is the series field current

The voltage equation can be obtained by applying KVL

V = E + I (Ra + Rse).

1.2.3 COMPOUND MOTOR

The compound motor is a combination of the series and shunt motors. There are two windings

in the field: a shunt winding and a series winding. The shunt winding is composed of many

turns of fine wire and is connected in parallel with the armature winding. The series winding

consists of a few turns of large wire and is connected in series with the armature winding. The

starting torque is higher than in the shunt motor but lower than in the series motor. Variation

of speed with load is less than in a series wound motor but greater than in a shunt motor. The

compound motor is used whenever the combined characteristics of the series and shunt motors

are desired.

Because of the series field, the cumulative compound motor has a higher starting torque than a

shunt motor. Cumulative compound motors are used in driving machines which are subject to

sudden changes in load. They are also used where a high starting torque is desired, but a series

motor cannot be used easily.

In the differential compound motor, an increase in load creates an increase in current and a

decrease in total flux in this type of motor. These two tend to offset each other and the result is

a practically constant speed. However, since an increase in load tends to decrease the field

strength, the speed characteristic becomes unstable. Rarely is this type of motor used in

aircraft systems.

Figure 5: Circuit of compound motor

The compound motor is further subdivided as Cumulative Compound DC Motors and

Differential Compound Motor. In cumulative compound motor the flux produced by both

the windings is in the same direction, i.e.

In differential compound motor, the flux produced by the series field windings is opposite to

the flux produced by the shunt field winding, i.e.

The positive and negative sign indicates that direction of the flux produced in the field

windings.

CHAPTER 2

DC MOTOR MODEL2.1 DC SHUNT MOTOR MODEL

Figure 6: DC shunt motor model

2.1.1 MODELLING EQUATIONS OF DC SHUNT MOTOR Armature circuit Ia(s)=1*(Ea(a)-Eb(s))/Ra+La*S

Motor torque T(s)=Kt*Ia(s)

Back EMF Eb(s)=Kb*Ω(s)

Mechanical load Ω(s)=1*(T(s)-TL(s))/Js+B

2.1.2 SAMPLE PARAMETERS

La = 0.0062 Armature Inductance

Ra = 0.18 Armature Resistance

Rf =12 Field Resistance

Lf = 0.01 Field Inductance

Bm = 0.007 Friction Coefficient

J = 0.04 Inertia Constant

Tf = 1.5 Simulation Time

2.1.3 RESULTS

a) Angular velocity:

This result depicts the Speed Time characteristics of DC motor with variation of the Load

across its.

Figure 7: Angular velocity

b) Output torque:

This result depicts the Torque Time characteristics of the DC motor with variation of the

Load across its.

Figure 8: Output torque

c) Armature output current:

This result depicts the Current Time characteristics of the DC motor with variation of

the Load across its.

Figure 9: Armature current

2.2 DC SERIES MOTOR MODEL

Figure 10: DC series motor model

2.2.1 MODELLING EQUATIONS OF DC SHUNT MOTOR

2.1.2 SAMPLE PARAMETERS

La = 0.0062 Armature Inductance

Ra = 0.18 Armature Resistance

Rf =12 Field Resistance

Lf = 0.01 Field Inductance

Bm = 0.007 Friction Coefficient

J = 0.04 Inertia Constant

Tf = 10 Simulation Time

Figure is our Matlab Model for dc shunt motor. In this model we have used different

Matlab blocks. All these blocks are explained below:

a) Step input: The Step block provides a step between two definable levels at a specified

time. If the simulation time is less than the Step time parameter value, the block's

output is the Initial value parameter value. For simulation time greater than or equal to

the Step time, the output is the Final value parameter value.

b) Summer: The Sum block performs addition or subtraction on its inputs. This block can

add or subtract scalar, vector, or matrix inputs. It can also collapse the elements of a

signal. The operations of the block with the List of signs parameter. Plus (+), minus (-),

and spacer (|) characters indicate the operations to be performed on the inputs.

c) Gain: The Gain block multiplies the input by a constant value (gain). The input and the

gain can each be a scalar, vector, or matrix. You specify the value of the gain in the

Gain parameter. The Multiplication parameter lets you specify element-wise or matrix

multiplication. For matrix multiplication, this parameter also lets you indicate the order

of the multiplicands. The gain is converted from doubles to the data specified in the

block mask offline using round-to-nearest and saturation. The input and gain are then

multiplied, and the result is converted to the output data type using the specified

rounding and over flow modes.

d) Integrator: The Integrator block outputs the value of the integral of its input signal with

respect to time. The Integrator Limited block is identical to the Integrator block with

the exception that the output of the block is limited based on the upper and lower

saturation limits. See Limiting the Integral for details. Simulink® treats the Integrator

block as a dynamic system with one state. The block dynamics are given by:

x(t) = u(t)

y(t) = x(t) x(t0) = x0

where :

u is the block input.

y is the block output.

x is the block state.

x0 is the initial condition of x.

2.1.3 RESULTS

a) Angular velocity:

This result depicts the Speed Time characteristics of DC motor with variation of the Load

across its.

Figure 11: Angular velocity

b) Output torque:

This result depicts the Torque Time characteristics of the DC motor with variation of the

Load across its.

Figure 12: Output torque

c) Armature output current:

This result depicts the Current Time characteristics of the DC motor with variation of

the Load across its.

Figure 13: Armature current

(Example)

LISTOFSYMBOLS

[x] Integer Value ofx.

≠ Not Equal

EBelongs to

€ Euro-A Currency

_ Optical distance

_o Optical thickness or optical halfthickness

(Example)

LISTOFABBREVIATIONS

AAM ActiVeAppearanceModel

ICA Independent ComponentAnalysis

ISC Increment Sign Correlation PCA

Principal Component Analysis ROC

ReceiVerOperatingCharacteristics

(Exampleof References using theNumeric System)

REFERNCES

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APPENDIX

FORMAT OF CDCONTAINING COMPUTERSOFTWARE

Eachsoftwaredevelopedby theProject'sGroupshouldbeburntinaCDwithproperdocumentation.TheCDshouldcontainfilescontainingthesimulation model,oneormoresampleinputandcorrespondingoutput or resultsseparately.Other than these there mustbe anotherfilenamed "READ.ME".In this ASCIItext file, the followingsections must be appear.

Author'sIdentity.AfileshouldcontainthenameofeachprojectgroupmemberalongwiththeProject title.

Files intheCD.In this section, the names ofthefiles together with their contents must belisted.

SoftwareRequirements.Inthissection,theOperating system,Matlab versiondetails,mustbelisted.