Use MATLAB/SIMULINK to analyze the current and rotational motion at

the motor output when a constant input signal approximates a pulse-width

ELECTRIC MACHINES
COMPLEX ENGINEERING PROBLEM

MAAM QUDSIYA IRUM

EXECUTIVE SUMMARY
The aim of this report was to analyze the current and rotational motion at the DC motor output
when a constant input signal approximates a pulse-width modulated signal is applied to it. We
use MATLAB SIMULINK software for these analysis by using virtual blocks in it and run the
simulations to see desired outputs. The result indicates that by using Controlled PWM Voltage
and H-Bridge blocks, we can control DC motor. We concluded that by increasing/decreasing
input PWM reference voltage, we can control it speed.
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TABLE OF CONTENTS
➢ Executive Summary……………………………………………….... (1)
➢ List of Tables…………………………………………………………. (2)
➢ Introduction………………………………….………………………... (3)
Working principle……………………………………………………... (3)

Types of DC motors…………………………………………………… (4)

Characteristics………………………………………………………… (4)

➢ Discussion……………………………………………………………... (5)
Pulse Width Modulation……………………………………………….. (6)

H-Bridge…………………………………………………………….. (7)

➢ Findings/results……………………………………………………….. (7)
Block Diagram………………………………………....................... (10)

Simulations………………………………………………………… (11)

➢ Conclusion…………………………………………………………… (13)
➢ Bibliography…………………………………………………………. (13)
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1. INTRODUCTION
A DC motor is defined as a class of electrical motors that convert direct current electrical
energy into mechanical energy. In previous years the power system was used dc power system
but in the 1890s the use of ac power system becomes very common to the people. But due to
the usage of ac system, the importance of dc motor did not end. With that there is still use of
such applications where constant speed is not required. If the conductor through which current
is passing is put int the magnetic field the force or torque exists on that conductor and it moves.
In simple is that as due to current passing in the conductor field is generated and that field
interacts to the other field that causes the production of torque and conductor moves. The
rotation direction of dc motor can be found with the use of Fleming left-hand rule that defines
that if the index finger middle finger and thumb has such a position that they are at 90 degrees
to one another and if index finger denotes the direction of fields and the middle finger denotes
the current direction flowing in the conductor then the thumb will denote the direction of the
force exerted on the rotor or shaft of dc motor.

There are five major types of dc motors.

1. separately excited dc motor

2. shunt dc motor

3. permanent-magnet dc motor

4. series dc motor

5. compounded dc motor

The performance of a DC motor can be judged by its characteristics and a motor for any
particular application can be selected easily. The performance characteristics of DC motor are:

• Torque versus armature current (T v/s Ia)

• Speed versus armature current (N v/s Ia)

• Torque versus speed (T v/s N)

2. DISCUSSION
A DC motor consist basically of two parts, the stationary body of the motor called the Stator
and the inner part which rotates producing the movement called the “Rotor”. For D.C. machines
the rotor is commonly termed the Armature. Generally, in small light duty DC motors the stator
consists of a pair of fixed permanent magnets producing a uniform and stationary magnetic
flux inside the motor giving these types of motors their name of “permanent-magnet direct-
current” (PMDC) motors. As the armature rotates electrical current is passed from the motors
terminals to the next set of armature windings via carbon brushes located around the
commutator producing another magnetic field and each time the armature rotates a new set of
armature windings are energized forcing the armature to rotate more and more and so on. So
the rotational speed of a DC motor depends upon the interaction between two magnetic fields,
one set up by the stator’s stationary permanent magnets and the other by the armatures rotating
electromagnets and by controlling this interaction we can control the speed of rotation. many
people attempt to control the speed of a DC motor using a large variable resistor (Rheostat) in
series with the motor as shown below

But it generates a lot of heat and wasted power in the resistance. One simple and easy way to
control the speed of a motor is to regulate the amount of voltage across its terminals and this
can be achieved using “Pulse Width Modulation” or PWM. As its name suggests, pulse width
modulation speed control works by driving the motor with a series of “ON-OFF” pulses and
varying the duty cycle, the fraction of time that the output voltage is “ON” compared to when
it is “OFF”, of the pulses while keeping the frequency constant. The power applied to the motor
can be controlled by varying the width of these applied pulses and thereby varying the average
DC voltage applied to the motors terminals. By changing or modulating the timing of these
pulses the speed of the motor can be controlled, ie, the longer the pulse is “ON”, the faster the
motor will rotate and likewise, the shorter the pulse is “ON” the slower the motor will rotate.
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In other words, the wider the pulse width, the more average voltage applied to the motor
terminals, the stronger the magnetic flux inside the armature windings and the faster the motor
will rotate and this is shown below

The use of pulse width modulation to control a small motor has the advantage in that the power
loss in the switching transistor is small because the transistor is either fully “ON” or fully
“OFF”. As a result, the switching transistor has a much reduced power dissipation giving it a
linear type of control which results in better speed stability. Also, the amplitude of the motor
voltage remains constant so the motor is always at full strength.

We cannot drive a dc motor directly through a microcontroller pin. It usually operates in 3.3v-
5v and lower currents but DC motor normally works in 6-12v, 300mA and it has other
drawbacks like the back EMF produced by the DC motor may harm the controller ports and
damage them. The solution to the above problems is using motor driving circuit usually known
as H-Bridges. They are basically built using FETs and many dedicated ICs are also available
like L293D etc. An H-Bridge is made up of four switches: two in series, and two in parallel,
with the load placed in between the switches. In this configuration the circuit takes an “H”
shape.
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In order to change the direction of the voltage supplied, the H-Bridge controls the switches that
deliver power to the load (S1). Looking at the diagram, if we close S1 and S4 while leaving the
rest open, the voltage will be applied from left to right across the motor. If S2 and S3 are closed
instead and the others open, the voltage will be applied from right to left.

The way a PWM signal operates a motor is by switching the power supply on and off really
quickly. Normally this can be done sending the PWM signal to a transistor, and have the
transistor switch their power supply. By varying the pulse width of the PWM signal, the speed
of the motor can be controlled. An H-bridge can replace the transistor and add functionality by
allowing the direction of the current to be easily changed. We still send a pulsating signal to
the H-bridge in order to control the speed, except now we can switch the direction of the current
flow by changing which switches are open.

3. FINDINGS / RESULTS

Motor Input Signal Parameters

We generate the motor input signal using these blocks:

• The DC Voltage Source block (PWM reference voltage) generates a constant signal.

• The Controlled PWM Voltage block generates a pulse-width modulated signal.

• The H-Bridge block drives the motor.

In our case, all input ports of the H-Bridge block except the PWM port are connected to ground.
As a result, the H-Bridge block behaves as follows:
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• When the motor is on, the H-Bridge block connects the motor terminals to the power
supply.

• When the motor is off, the H-Bridge block acts as a freewheeling diode to maintain the
motor current.

We simulate the motor with a constant current whose value is the average value of the PWM
signal. By using this type of signal, we set up a fast simulation that estimates the motor
behavior.

1. In the DC Voltage Source block, we set the Constant voltage parameter to 2.5 V.

2. We set the parameters of the Controlled PWM Voltage block:

• PWM frequency — 4000 Hz

• Simulation mode — Averaged

This value tells the block to generate an output signal whose value is the average value of the
PWM signal. Simulating the motor with an averaged signal estimates the motor behavior in the
presence of a PWM signal. To validate this approximation, we use value of PWM for this
parameter.

3. In the H-Bridge block, we set the Simulation mode parameter to Averaged.

This value tells the block to generate an output signal whose value is the average value of the
PWM signal. Simulating the motor with an averaged signal estimates the motor behavior in the
presence of a PWM signal. To validate this approximation, use value of PWM for this
parameter.

Motor Parameters

Configure the block that models the motor.

Set the parameters of the DC Motor block, leaving the unit settings at their default values where
applicable:

• Electrical Torque section:

o Model parameterization — By rated load and speed

o Armature inductance — 0.01 H

o No-load speed — 4000 rpm

o Rated speed (at rated load) — 3000 rpm

o Rated load (mechanical power) — 15 W

o Rated DC supply voltage — 12 V

• Mechanical section:

o Rotor inertia — 0.0002 kg*m^2

o Rotor damping — 0.5e-5 N*m/(rad/s)

Current Display Parameters

Specify the parameters of the blocks that create the motor current display:

• Current Sensor block

• PS-Simulink Converter1 block

• Current scope

Of the three blocks, only the PS-Simulink Converter1 block has parameters. Set the PS-
Simulink Converter1 block Output signal unit parameter to A to indicate that the block input
signal has units of amperes.

Torque Display Parameters

Specify the parameters of the blocks that create the motor torque display:

• Ideal Rotational Motion Sensor block

• PS-Simulink Converter block

• RPM scope

Of the three blocks, only the PS-Simulink Converter block has parameters we need to configure
here. Set the PS-Simulink Converter block Output signal unit parameter to rpm to indicate that
the block input signal has units of revolutions per minute.
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Block Diagram

Simulation for current

Observation: When the DC motor start, its current increases suddenly to 3.1A then slowly
comes to its minimum value as it attains its maximum speed. Note here rated load is 15W.
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Simulation for Speed

Observation: Motor runs at about 2000 rpm when the applied DC voltage is 2.5 V as expected.

Simulations 2

Observation: As we can see in the first figure that current suddenly goes to 1.4A and then
decline towards its minimum value. This is because we decrease the rated load (Mechanical
power) to 6W. Speed is same as we analyzed before which was 2000 rpm but this time by
comparing both, this speed graph with previous speed graph we can Cleary see that it will take
some-time to attain its maximum speed.
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Simulations 3

Observation: We can see in both figures that initial current also increases up to 3.7A and speed
is also increased up to 2500 rpm as we set PWM reference voltage to 3V.

4. CONCLUSION

This model shows how to use the Controlled PWM Voltage and H-Bridge blocks to control a
motor. The DC Motor block uses manufacturer datasheet parameters, which specify the motor
as delivering 15W mechanical power at 3000 rpm and no-load speed as 4000 rpm when run
from a 12V DC supply. Hence if the PWM reference voltage is set to its maximum value of
+5V, then the motor should run at 4000 rpm. If it is set to +2.5V, then it should run at
approximately 2000 rpm. The Simulation model parameter is set to Averaged for both the
Controlled PWM Voltage and H-Bridge blocks, resulting in fast simulation.

5. BIBLIOGRAPHY
o https://docs.onion.io/omega2-maker-kit/maker-kit-servo-h-bridge.html
o https://www.electronics-tutorials.ws/blog/pulse-width-modulation.html
o https://www.yourelectricalguide.com/2017/09/characteristics-of-dc-motor.html