EXPERIMENT 1

DC MOTOR SPEED CONTROL SYSTEM

OBJECTIVES

In order to understand how dc motor speed control system works, in this experiment
we will study the closed loop system of speed control, the effect of gain and
disturbances for speed control, and two directional speed control.

REFERENCES

1. Ogata K. Modern Control Engineering. 2010

2. Anonymous. User’s Manual Modular Feedback Servo System

EQUIPMENT REQUIRED

- MATLAB & Simulink Software R2014 and up version (make sure you already
download and install it in your computer)

- The Simulation Script Package (https://intip.in/dcmotorsimulink)

PRE-EXPERIMENT TASK

Explain DC motor speed control system and it’s all components, download the
Simulink project and give brief explanation which part take role as :

a) Reference(input),
b) Summing point(Error Detector),

c) Controller
d) Actuator

e) Sensor
f) The Plant

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INTRODUCTION

Electric motor is an electromagnetic device which convert electrical force into

mechanical forces. This mechanical force is used to operate pump, fan, blower, etc.
DC motor needs direct current voltage supply on field coil to be converted into
mechanical force. Field coil in DC motor is called stator (static component) and
armature coil is called rotor (rotating component).

Electric current in magnetic field will give mechanical force. If the wires that bring
current is shaped into circle/loop, then both side loops, will get force effect in different
direction. Those forces produce torque to rotate motor.

Basic methods of DC motor control are as followed:

1. Field control.

2. Voltage control.

3. Armature resistance control.

1. Field Control

This method can be done by controlling shunt field current with reducing and
increasing through resistance variable that is connected to field coil in series as shown
in Figure 1

Figure 1. Field Control Circuit in DC Motor

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2. Voltage Control

This control is done by adjusting the voltage supplied to the motor as shown in Figure
2.

Figure 2. Voltage Control Circuit in DC Motor

3. Armature Resistance Control

This control can be done by adjusting the armature resistance by connecting series
with resistance variables as shown in Figure 3.

Figure 3. Armature Resistance Control Circuit in DC Motor

Devices Used :

Modular Servo System MS 150 (Actual Plant)

Modular servo system MS 150 is an electronic circuit block used to control the speed
and position of a DC servo motor. Modular servo system MS 150 consist of power
supply, servo amplifier, two units of the DC motor, reduction gear tachogenerator unit,

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transducers and modules.

Figure 4. Modular Servo System MS 150

Simulink DC Motor Speed Project (Simulation)

Modular servo system MS 150 is an electronic circuit block used to control the speed
and position of a DC servo motor. Modular servo system MS 150 consist of power
supply, servo amplifier, two units of the DC motor, reduction gear tachogenerator unit,
transducers and modules

Figure 5. Simulink DC Motor Speed Project

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The speed control can be done by controlling the input signal (voltage) to the DC
motor, because speed of DC motor is affected by the magnitude of input voltage. Such
control system commonly called the open-loop speed control system. In state of
constant load or in a state of no-load, open-loop control system may still be used.
However, in a state load change, the open-loop system is not able to be accounted for
more reliability.

Open-loop speed control system can be modified to the system closed-loop. This
system compares the actual speed with speed desired. The comparison will generate
an error signal (error signal) which will then be used to drive the motor through servo
amplifier. Thus, the motor can maintain a constant speed value.

In the first experiment, the feedback signal in this case is voltage generated by the
tachogenerator compared with a reference signal in opposite polarity. Comparison of
the sum of the reference signal with feedback signal that is used for provide input to
the servo amplifier to drive the motor. As comparators, operational amplifiers used.
While DC motors used assembled using armature control.

In a second experiment, the magnetic brakes to be used as a load by installing the

aluminum disc at high speed shaft. On this experiment was intended to show that to
gain higher, reduced speed will cause more error. Thus, raising the gain will reduce
speed on variety of load reduction as indicated in Figure 5.

Figure 6. Brake Torque Vs Error and Brake Torque Vs Speed Graph.

In the last part of this experiment will be created speed control system with two-way
rotation, namely in the forward direction (forward) and direction backward (reversed).

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The system uses a high gain, so the component Op-Amp replaced with Pre-Amp
because these tools can make the motor rotates forward or backward, and have a gain
about 25.

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EXPERIMENT

Experiment 1. Open Loop DC Motor Control

Servo amplifiers require positive input voltage, so the op - amp should produce a
positive output voltage. In this experiment, the op-amp functioned as an inverter so as
to produce a positive output then input op - amp should be negative.

Cautions:

1. Read the work steps in advance and understand.

2. Make sure you have design the system as shown in the picture below.

Figure 7. Open Loop DC Motor Control simulink

A. Operational Procedure:

1. Download the Simulink diagram in the equipment section

2. Open the file.

3. Before you run the simulation, check again all the connectors.

4. Press DC Motor Machine and Change preset model into 5HP 240V 1750RPM
Field: 300.

5. Check the parameter pane, and write down its value to the experimental data.

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 6. Press the “Lookup Table”.

7. Set up the Table Data and fill it with your group student number ID from the
least until the greatest.

8. Set the parameter of P block into 1

9. Make sure the system achieve settle point of all your input.

10. After completion of the measurement make sure you filled the experimental
data.

B. Experimental Data

Motor Characteristics

Parameters Value

Ra (ohms)

La (H)

Rf (ohms)

Lf (H)

Laf (H)

Inertia

Friction Coef.

Torque (N.m)

Initial Speed

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 Experiment towards the 3 last digit NRP of each member

Reference Tachogenerator Error Signal Motor Speed

Signal (Volt) Signal (Volt) (Volt) (rpm)

(A)

(B)

(C)

(D)

C. Analysis and Experiment Task

1. What is steady state ? and when is it ?

2. Explain why tachogenerator voltage is smaller than reference input

voltage?

3. Compare the result on third row (error voltage) and also the sum of first
row (reference voltage) and second row (tachogenerator voltage)?

4. Make a speed versus error voltage graph, and speed versus

tachogenerator voltage graph?

5. What is conclusion from the mathematical equation from regression

analysis?

Experiment 2. Simple Close Loop Velocity Control System

Read the steps first.

1. Make sure that you have connected the tachogenerator to the summing point (error
detector).

2. Make sure that you have connected the tachogenerator to the Scope of ‘ref & actual

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 speed’.

A. Operational Procedure:

1. Make the circuit like Figure 8.

2. Make sure that you have connected the tachogenerator to the summing point
(error detector).

3. Make sure that you have connected the tachogenerator to the Scope of ‘ref &
actual speed’.

4. Set the proportional parameter of the controller into 0.001.

5. Simulate the system.

6. Wait until your system achieved the steady state condition !

7. After the experiment, make sure you write down the experimental data.

Figure 8. Simple Close Loop Velocity Control System

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B. Experimental Data
Experiment towards the 3 last digit NRP of each member & Kp (0.001)
Reference Tachogenerator Error Signal Motor Speed
Signal (Volt) Signal (Volt) (Volt) (rpm)

(A)

(B)

(C)

(D)

C. Analysis and Experiment Task

1. What kind of feedback which is used from that experiment ?
2. How does the Proportional parameter work ?

3. Make a conclusion from experiment 1 & 2 !

Experiment 3. Proportional parameter and its effect.

Caution:
1. Read the step

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 Figure 9 Controller Parameter Set-up Window.

A. Operational Procedure:
1. Make the circuit as shown in Figure 2.8.
2. Check the all of the connections
3. Press the PID controller to set up the parameter.
4. Press the Lookup Table and set it as the term of reference signal calculation
below.
5. Make sure your system could achieve the steady state condition for all inputs.
6. Observe the system responds, and take a picture documentation for each
responds, then put it in the attachment section.

B. Experimental Data

Reference Reference Voltage Tachogenerator Error Voltage

Motor Speed (rpm)
(Volt) Voltage (Volt) (Volt)
Signals

X50 Gain Gain Gain Gain Gain Gain Gain Gain Gain Gain Gain Gain
1 5 10 1 5 10 1 5 10 1 5 10

(D-A)

(D-B)

(D-C)

(C-A)

(C-B)

(B-A)

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C. Analysis and Experiment Task:

1. Make conclusion due to the proportional parameter value changes !

2. Speed control system’s block diagram:

For input 5 volt, determine the error steady state for speed  (s) .

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