KoneruLakshmaiah Education Foundation
(Deemed to be University)
ELECTRICAL AND ELECTRONIC ENGINEERING
A Project Based Lab Report
SPEED CONTROL OF DC MACHINE USING CHOPPER
SUBMITTED BY:
I.D NUMBER NAME
180060014 SYED RAHAMAT
180069016 KANAKADANDI VENKATA
CHAITANYA BHARADWAJ
UNDER THE GUIDANCE OF
Mr.K.P.PRASAD RAO (M.Tech)
KL UNIVERSITY
Green fields, Vaddeswaram – 522 502
Guntur Dt., AP, India.
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DEPARTMENT OF ELECTRICAL AND ELECTRONIC
ENGINEERING
CERTIFICATE
This is to certify that the project based laboratory report entitled “SPEED
CONTROL OF DC MACHINE USING CHOPPER submitted by Syed.
Rahamat (180060014), Kanakadandi Venkata Chaitanya Bharadwaj
(180069016) to the Department of Electrical and Electronics Engineering,
KL University in partial fulfillment of the requirements for the completion of a
project based Laboratory in “TECHNICAL SKILLS-4(MATLAB)” course in II
B Tech II Semester, is a bonafied record of the work carried out by them under
my supervision during the academic year 2019 – 2020.
PROJECT SUPERVISOR HEAD OF THE DEPARTMENT
Mr.K.P.PRASAD RAO Dr. S.V.N Lalitha
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ACKNOWLEDGEMENTS
It is great pleasure for me to express my gratitude to our honorable President Sri.
Koneru Satyanarayana, for giving the opportunity and platform with facilities in
accomplishing the project based laboratory report.
We express the sincere gratitude to our principal Dr. K.Subba Rao for his
administration towards our academic growth.
We express sincere gratitude to HOD-EEE Dr. S.V.N Lalitha for her leadership
and constant motivation provided in successful completion of our academic semester.
We record it as my privilege to deeply thank for providing us the efficient faculty and
facilities to make our ideas into reality.
We express my sincere thanks to our project supervisor
Mr.K.P.PRASAD RAO for his novel association of ideas, encouragement, appreciation
and intellectual zeal which motivated us to venture this project successfully.
We express my sincere gratitude to parents for their support, encouragement,
appreciation and motivation for this project
Finally, it is pleased to acknowledge the indebtedness to all those who devoted
themselves directly or indirectly to make this project report success.
180060014 Syed Rahamat
180069016 Kanakadandi Venkata
Chaitanya Bharadwaj
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ABSTRACT
This project is to regulate the speed of the motor below the
base speed. Conventionally armature control method is used with rheostat, but using
rheostat causes more losses. So, to regulate the armature voltage the chopper is used
instead of the rheostat. The dc machine is separately excited through field winding. The
chopper circuit gets signals from the controller and then supplying variable voltage to
the armature of motor the desired speed is obtained in the motor. Chopper converts from
dc fixed voltage to variable voltage; it can be step up or step down. In an open loop
system the output speed may be erroneous; practically the speed of the motor might
slightly be less at a predetermined voltage. To rectify this issue, closed loop method is
preferred. The error signal is determined from the difference of the actual speed and
desired speed. Here PI controller is used, as the proportional term does the job of fast
correction and the integral term takes finite time to act and makes the steady state error
zero, delay can be removed. In treadmill machine, railway engines (traction), E-bikes,
e-bicycles, e-scooters, portable sewing machine, drill machine etc, in which speed
control of motor through chopper is practically used. The simulation is done in
MATLAB under varying load condition, varying reference speed condition and varying
input voltage.
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INDEX
S.NO TITLE PAGE NO
1 Introduction 6-9
2 Aim of the Project 10-11
3 Integration and System Testing 12-14
4 Inference 15
5 Conclusion 16
6 Reference 17
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INTRODUCTION
Variable speed applications are gradually increases in industrial sector.
Therefore it is important to create high performance, high flexible electrical drives. Electrical
motor, Power controller and energy transmitting medium are the main Parts of Electrical drives.
Nowadays, power electronics converter are cast instates of power controller. High performance
motor drive system has special features such as good dynamic speed command and load
regulating reaction. Electric drives are groups as: DC drives system and AC drives system. DC
drives are usually used than AC drives, in applications such as, good speed regulation
adjustable speed control, braking and reversing frequent starting. Some important applications
are mine winders, paper mills, hoists, rolling mills, printing presses, traction, machine tools,
textile mills, cranes, excavators. DC motors are used widely in position control system and
variable speed drives.
There are number of methods of speed control of DC drives – armature
voltage control, armature resistance control and field flux control. Here, the motor speed under
and up to the rated speed can be achieved by changing the Armature voltage. The Armature
voltage can be controlled by Using IGBT based chopper. Chopper used as power converter and
PI used as speed and current controller controlling of DC motor speed is examined. The use of
controller is to decrease the error and the error is calculated by Equaling output value with the
set point. A chopper is a static power electronic device used to converts stable dc input voltage
to an adjustable dc voltage as output. Here use of IGBT Chopper systems which have fast in
response, smooth control capability and are very efficient. An IGBT chopper is used to step
down or step up the stable dc input voltage.
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DC MOTOR:
When the wide speed range of control is needed, the DC motors are
employed. The major uses of DC motors are in position control and variable-speed
applications. The techniques of speed control for DC motors are less expensive and simpler
than the AC motors. Separately excited dc motor has armature and field winding. It requires
separate supply voltage. Field flux is supplied by field winding to armature. The current
immediately flows to the armature winding, when the supply is applied to the motor, through
the brushes and commutator. The rotor is positioned in magnetic field and it is also carrying
current. The back EMF and a torque are produced by motor; a torque stabilizes the load torque
at specific speed. When the field current and armature current flows in circuit, it excites the
DC motor, thus develops the back EMF and torque. The armature current is independent of the
field current. The field and armature winding are supplied separately. Any variation in the
armature current has no influence on the field current. The field current are generally minimum
than armature current. Suppose, Ia is the armature current in ampere, Va is the armature voltage
in volt, Ea is the motor back EMF in volt, Ra is the armature resistance in ohm, La is the
armature inductance in Henry.
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Figure 1: SEPERATELY EXCITED DC MOTOR
The armature voltage equation is shown below:
𝐝𝐈𝐚
𝐕𝐚 = 𝐄𝐚 + 𝐈𝐚𝐑𝐚 + 𝐋
𝐝𝐭
The Torque equation is given as,
𝐝𝐰
𝐓𝐝 = 𝐉 + 𝐁𝐰 + 𝐓𝐥
𝐝𝐭
Equation for back EMF of motor is given as,
𝐄𝐠 = 𝐊𝛗𝐖
Also,
𝐓𝐝 = 𝐊𝛗𝐈𝐚
𝐰 = (𝐕𝐚 − 𝐈𝐚𝐑𝐚)/𝐊𝛗
Thus from the above equations, observing that the speed of DC motor be influenced by
armature current, applied voltage, field flux, and armature resistance. So the speed of motor
by- armature resistance control, armature voltage control, and field flux control can be
controlled.
CHOPPER:
A chopper is a static power electronic device which converts fixed dc input
voltage to a variable dc output voltage. It can be step up or step down. Chopper systems offer
smooth control, high efficiency, faster response and regeneration facility. The power
semiconductor devices used for a chopper circuit can be force commutated thyristor, BJT,
MOSFET, IGBT and GTO. Among above switches IGBT and GTO are widely used. These
devices are generally represented by a switch. When the switch is OFF, no current will flow.
Current flows through the load when switch is ON. A chopper is a "on" or "off" semiconductor
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switch which is so high in speed. It connects source to load and disconnect the load from source
at a fast speed. During the period Ton, chopper is on and load voltage is equal to source voltage
Vs. During the period Toff, load voltage is zero and chopper is off. In this manner, a chopped
dc voltage is produced at the load terminals
Average Voltage,
Figure 2: CHOPPER
𝐕𝐨 = (𝐓𝐨𝐧/ (𝐓𝐨𝐧 + 𝐓𝐨𝐟𝐟)) ∗ 𝐕𝐬
= (𝐓𝐨𝐧/𝐓) ∗ 𝐕𝐬
= 𝐚𝐕𝐬
Ton=on-time.
Toff=off-time
T=Ton+Toff = Chopping period
a=Ton/Toff.
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AIM
The aim of the project speed control of dc motor using chopper
An electrical DC drive is a combination of controller, converter and DC motor. Here chopper
as a converter is used. The basic principle behind DC motor speed control is that the output
speed of DC motor can be varied by controlling armature voltage keeping field voltage constant
for speed below and up to rated speed. The output speed is compared with the reference speed
and error signal is then fed to speed controller. If there is a difference in the reference speed
and the feedback speed, Controller output will vary. The output of the speed controller is the
control voltage Eg that controls the operation duty cycle of converter. The converter output
gives the required voltage V to bring motor speed back to the desired speed. The Reference
speed is provided through a potential divider because it is linearly related to the speed of the
DC motor. Now the output speed of motor is measured by Tacho-generator. The Tacho voltage
will get from the Tacho generator contains ripple and it will not be perfectly dc. So, a filter
with a gain is required to bring Tacho output back to controller level. The basic block diagram
for DC motor speed control is shown below
The controller used in a closed loop model of DC motor provides a very easy and common
technique of keeping motor speed at any desired set-point speed under changing load
conditions. This controller can also be used to keep the speed at the set-point value when the
set-point is ramping up or down at a defined rate. In this closed loop speed controller, a voltage
signal is obtained from the Tacho-generator attached to the rotor which is proportional to the
motor speed is fed back to the input where signal is subtracted from the set-point speed to
produce an error signal. This error signal is then fed to controller to make the motor run at the
desired set-point speed. If the error speed is negative, this means the motor is running slow so
that the controller output should be increased and vice-versa .There are different types of
controller available and its selection is also an important work .Some of the controllers which
are most widely used are – proportional controller ,on–off controller, integral controller,
derivative controller and PID controller. In proportional controller error speed is proportional
to the measured output. This controller has the limited use and can never force the motor to run
exactly at the set point speed.
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Therefore an improvement is required for correction in the output. In PI controller, the
proportional term does the job of fast correction and the integral term takes finite time to act
and makes the steady state error zero. In derivative approach further refinement is done. This
controller will allow the rate of change of error speed to apply an additional correction to the
output drive. It can be used to give a very fast response to sudden changes in motor speed. In
simple PID controllers it becomes very difficult to generate a derivative term in the output that
has any significant effect on speed of motor. It can be deployed to reduce the rapid speed
oscillation caused by high proportional gain.
Therefore, in many controllers, it is not used. The derivative action causes the noise (random
error) in the main signal to be amplified and reflected in the controller output. Hence the most
suitable controller for speed control is PI type controller.
CONTROLLER CONVERTER
+ MOTOR
FILTER WITH GAIN
TACHO GENERATOR
FIGURE 3: CLOSED LOOP BLOCK DIAGRAM
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INTEGRATION AND SYSTEM TESTING
OPEN LOOP OF DC MOTOR
Figure 4: CIRCUIT DIAGRAM OF OPEN LOOP
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SPEED VS TIME GRAPH
Figure 5: speed vs time
ARMATURE CURRENT VS TIME GRAPH
Figure6: armature current vs time
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CLOSED LOOP
Figure 4: CLOSED LOOP CIRCUIT DIAGRAM
Speed Vs Time and Armature Current Vs Time Graph
Figure 3: SPEED VS TIME
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Figure 4:Armature current vs time graph
Inference
The speed of dc motor can be controlled using chopper .Controlling of
DC motor speed using Chopper as power converter and PI as speed and current controller.
Using of PI controller because of its simplicity and ability to maintain a zero
steady-state error to a step change in reference and it keep the speed at
the set-point value when the set-point is ramping up or down at a defined rate. In open loop
condition the motor is runs at above rated speed.
In closed loop condition using this PI controller the feedback is taken and speed is corrected
and brought to its below rated speed using chopper. This chopper can make the voltage to step
up or step down this control the speed of motor to either increase or decrease the speed.
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CONCLUSION
The speed of a dc motor has been successfully controlled by using Chopper as a converter and
Proportional-Integral type Speed and Current controller based on the closed loop model of DC
motor. Then a generalized modelling of dc motor is done. After that a complete layout of DC
drive system is obtained. Then designing of current and speed controller is done. The
simulation of speed control of DC motor has been done.
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Reference:
1. https://www.mathworks. chopper-fed-dc-motor-drive-speed-control-of-dc-motor
2. https://www.electrical4u.com/speed-control-of-dc-motor/
3. https://www.academia.edu/Speed_Control_of_Dc_Motor_Using_Chopper
4. www.wikipedia.org
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