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Separately Excited DC Motor Speed Control

Conference Paper · May 2021

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 2021 IEEE 1st International Maghreb Meeting of the Conference on Sciences and Techniques of
Automatic Control and Computer Engineering MI-STA, 25-27 May 2021, Tripoli-Libya

Separately Excited DC Motor Speed Control

Simulation Case Studies.
Majd Hareb Mohamed.Ekhail Prof. Fathi. Hareb.
Dept of electrical and electronic Dept of electric engineering Dept of electric engineering
University of Tripoli. Libyan Academy Libyan Academy
[email protected] [email protected] [email protected]

Abstract— The versatile control features of the DC motor have II. STUDY AIM
contributed to the extensive use of the DC motor in the industry.
With power semiconductor units are increasingly being used, DC The main Object and Outcomes of the work cover the
motor speed control is becoming advanced and accurate. The following:
armature voltage can control the speed of the Separately Excited • To gain more experience in the field of composite
DC motor, using a different single-phase or 3-phase AC/DC systems and the phenomenon structures of DC Motors.
converter.
This paper presents a modelling of separately excited DC motor
• Design speed controller of separately excited DC
speed control using a rectifier controller. The full converter motor using MATLAB simulation software.
method of the controlled rectifier can help to control the 3-phase
output voltage of the controlling speed of the DC motor for a wide III. OPERATION THEORY AND EQUIVALENT CIRCUIT
range. The system is modelled and simulated to study the speed
during the different firing angle of thyristor behaviour. The speed
The inverter's output is the BLDC motor's energization
output value was analyzed at different firing angles—the model of sequence, with only two phases energized at a time. The
the proposed system built in the Simulink bloke simulation strength of the magnetic field produced by the energized
software. The simulation and experimental findings are in good windings of the motor, which are dependent on the current
agreement. flowing through them, determines the motor's speed and torque.
As a result, changing the rotor's voltage and current would
Keywords- Separately excited, firing angle, phenomenon pulls affect the motor's speed.
generator
Therefore, the DC motor provides a smooth wide range of
I. INTRODUCTION speed control with relative ease because of the (mmf) magnetic
motive force produced by field coil and that produced by
T HIS paper will focus on the speed control method of
separately excited DC Motor, a fully controlled rectifier
used, and their responses will be discussed. DC machines are
armature coil is always at quadrature, and hence they can be
controlled independently [2].
The basic equations governing the steady-state operation of DC
mainly used in heavy-duty applications such as conveyors, motor and the equivalent circuit shown below are [3].
pumps and steel mills due to their torque and speed can be easily
controlled without reducing the machine's performance. DC = + (1)
current supplied to the armature windings, called the armature
=
current. The current supplied to the field windings, called the
(2)
field current. An interaction between the current of the armature

∝ Φ
and the field's current through the magnetic flux produced by
both windings [1]. Torque is generated through the interaction The induced emf is,
of the armature flux with the field windings. Furthermore, the Therefore
=
Φ
voltage produced by the back emf is directly proportional to the

= = = Φ
speed of the motor, which is related to the motor speed constant
k and the field current if. It is possible to control the field (3)
voltage or the armature current of the separately excited motor
by adjusting the armature voltage. When a motor runs at its Where p= number of pole pair, Z= number of conductors, Φ
maximum speed, it is said to run at its base speed. Armature = flux per pole (wb), C = No current/ parallel path (2p for lab
voltage control is the choice if a speed below the base. If speed winding and 2 for wave winding).
is needed above the base speed, the field current will be
modified. Since the motor's power output cannot be greater than = ∅ and, = (4)
its rating, the torque created decreases in over-speed operation.
Where Va = armature voltage, Ia= armature current, If field
current, Vf = field voltage, n= speed of the motor, k= constant

978-1-6654-1855-3/21/$31.00 ©2021 IEEE

47
 A. Universal Bridge block

The Universal Bridge block creates a universal three-phase

power converter by connecting up to six power switches in a
bridge configuration. The dialogue box allows to choose the
type of power switch and converter setup. In contrast, the
Universal Bridge block allows simulation of converters using
both naturally commutated (and line-commutated) power
electronic devices (diodes or thyristors) and forced-
Fig. 1. Equivalent circuit of separately excited DC motor.
commutated devices (GTO, IGBT, MOSFET). The Universal
Bridge block is the fundamental block for building two-level
and ∅= flux.
voltage-sourced converters (VSC).

IV. DC MOTOR SPEED CONTROL MODULE

The torque value (T) developed is given in equation (5), and
the speed (N) of a dc motor is given in equation (6):

!= "ₐ (5)

%
$=
&
(6)

Where k is constantly decided by the design of the machine

(total number of conductors, number of parallel paths and Fig. 3. Three-phase half / full-wave rectifier block.
number of poles), the above equation explains the concepts of
different methods of speed control. C. Filter

In this project, an LC filter is used at the output terminals of the

A. Six Pulse Generator block full-wave fully controlled rectifier to reduce the harmonics
The 6-Pulse Generator block Synchronization can be arranged generated by the pulsating modulation waveform.
to work in double-pulsing mode. In this mode, two pulses are
sent to each thyristor: a first Synchronization can be arranged
to work in double-pulsing mode.
In this mode, each thyristor receives two pulses: one when the
alpha angle is reached, and another 60 degrees later when the
next thyristor is fired.
Figure 2 demonstrate the synchronization of the six pulses with Fig. 4. LC Filter.
a 30 degree alpha angle and double-pulsing mode. I important
to note that the pulses are produced 30 degrees just after zero The value of the inductance and capacitance should be selected
crossings of the line-to-line. to minimize the reactive power in these components and filter
out the switching effects, taking into account several factors
such as cut-off frequency, power level, and efficiency. The cut-
off frequency fc of the filter is an essential factor to be
considered such that most of the low order harmonics are
eliminated; it should be lower than the switching frequency.

'( = 1/
2+√-.
(7)

015 0 6 0.03
' 41
12 (8)
13

Equation (7) is used to calculate the value of the inductance and

the capacitance.
Fig. 2. The synchronized of 6-pulses of the angle alpha from 30 ̊ & 60 .̊

48
The rectifier's output impedance must remain nil. As a result, at 2. Output voltage waves from rectifier:
the low-pass filter's selected cut-off frequency, the capacitance
value must be maximized whereas the inductance value must
be reduced [3].

V. MATLAB DESIGN CIRCUIT

The fig.5. below is the complete design of the circuit using the
Math lab Simulink's blocks.

Fig. 7. Show the output waveform of one phase rectifier.

The figures above show that the output voltage of the rectifier
is equal to (513v) after the full wave has been cut. This value of
voltage well provides the rated voltage with the rated speed of
the motor.

3. Motor Speed (Wm):

Fig. 8 show the rated speed is equal (373 rad/s) since the rated
voltage has been applied to the armature voltage and with no
load applied in the motor.
Fig. 5. Complete design of the implemented circuit of speed controller of
separately excited DC motor using Mathlab Simulink's.

VI. SIMULATION RESULTS

A. Case one: normal (Alpha= 0 )( Load= 0 )

In this case, by adjusting the control system of firing angle to
zero degrees and with zero loads applied in motor, the Fig. 8. Output speed (Wm) at no load.
simulation results of the circuit above.
B. Case Two: (Alpha= 60 )( load =0 )
1. The applied three-phase voltage wave: In this case, the control system firing angle (60 degrees) and
with zero loads applied in motor, the following data are shown
the simulation results.

1- The output voltage wave from rectifier:

Fig. 9. The fired output signal at a fired angle of 60̊

From fig 9, that the output voltage wave from the rectifier is
Fig. 6. Three-phase waveform vs time of the applied voltage to the rectifier.
equal to (291v) after the full-wave has been cut in 60 degrees.
By reducing the armature voltage, the speed will be reduced as
well.

49
 2- Motor Speed (Wm) : The speed curve points out the unstable mode that has been
caused by shifting the firing angle to 100 degrees. The value of
the speed, in this case, is undefined because of the unstable
mode.

D. Case Four: (Alpha=0 )( load =30Nm )

In this case, adjusting the control system firing angle to zero
degrees and with (30N.m) constant load applied in motor, the
simulation results show:

Fig. 10. Controlled speed shows that almost the same as case one. 1- Motor Speed (Wm) :

By changing the control system firing angle to 60 degrees

of alpha, the armature voltage reduced, reducing the motor's
speed to (185.5 rad/s).

C. Case three: (Alpha=100 )( load =0 )

In this case, the control system firing angle is 100 degree, at
no load applied to the motor. The simulation results show as:

Fig. 13. Load speed curve at a firing angle 0o

1- The output voltage wave from rectifier:
2- Electric Torque (Te):

Fig. 11. Show the waveform at a firing angle 100̊ with harmonics.
Fig. 14. Reduction of motor torque by applying the load.
The figure indicates that the output voltage wave from the
rectifier gives (Vout=85v) are not uniformed and had harmonic By applying the torque, the speed has been reduced and its value
harmonics generated by the pulsating modulation waveform. equal to (355 rad/s) while the armature voltage is kept constant
The value of the armature voltage is not enough to get the motor and not changed by the control system.
to work, and with the harmonics, it shall create an unstable
mode. VII. CONCLUSIONS

1- Motor Speed (Wm) : This project aimed to have no attenuation in the armature speed
graphs and applied rated voltage vs time at different firing
angles for a Separately Excited DC Motor.
The task was to find a way to simulate the motor using
MATLAB. The speed of dc motors can be controlled by using
thyristors, which is recognized as the full controlled rectifier
and the designed project meets the requirements in terms of size
and rated specifications.
The speed of the motor remains constant during a different
firing angle up to 90o, where the harmonic effects start after a
firing angle of 60o, which makes the speed unstable.
Fig. 12. Show the speed becomes unstable and drop by shifting the firing
angle to 100̊

50
 VIII. RECOMMENDATION
APPENDIX.
The discussed results of the Separately Excited DC Motor was
shown that no attenuation in the armature speed graphs and MODEL SPECIFICATIONS:
applied rated voltage vs time at different firing angles. The task
was to simulate the motor using MATLAB. The speed of dc
motors can be controlled by using thyristors, which is
recognized as the full controlled rectifier and the designed
project meets the requirements in terms of size and rated
specifications. The speed of the motor Remains constant during
a different firing angle up to 90o, where the harmonic effects
start after a firing angle of 60o, which makes the speed unstable.

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