VSRD International Journal of Electrical, Electronics & Communication Engineering, Vol. 3 No.

4 April 2013 / 165

e-ISSN : 2231-3346, p-ISSN : 2319-2232 VSRD International Journals : www.vsrdjournals.com
RESEARCH ARTICLE
SPEED CONTROL OF SEPARATELY EXCITED DC MOTOR
USING MATLAB
1
Vandana Jha* and
2
Dibya Bharti
1,2
Assistant Professor, Department of Electrical & Electronics Engineering,
Guru Gobind Singh Educational Societys Technical Campus, Bokaro, Jharkhand, INDIA.
*Corresponding Author : vandana_puju1@rediffmail.com
ABSTRACT
The speed of separately excited DC motor can be controlled above or under rated speed using chopper as a converter. The chopper firing
circuit receives signal from controller and then chopper gives variable voltage to the armature of the motor for achieving desired speed.
Two control loops, one for controlling current and another for speed have been designed. The controller used is Proportional-Integral type
which removes the delay and provides fast control. Modelling of separately excited DC motor has been done. The complete layout of DC
drive mechanism has been obtained. The simulation of DC motor drive has been done and analyzed under varying speed and varying load
torque conditions like rated speed and load torque, half the rated load torque and speed, step speed and load torque. It has been observed
that the SIMULINK model without filter after reference speed gives larger overshoot in speed before settling to steady state and faster
response than the model using filter after reference speed. It has also been observed that when the load is constant, the speed response is
smooth after attaining steady state but when the load is varying, speed response have ripples due to time delay in achieving desired speed.
When load has been kept constant and reference speed varying then speed response is shifting accordingly with a time delay. When
Reference speed and load are varying then in speed response, speed is adjusting as well as there is some ripple due to delay in achieving
current reference speed. Finally it has been observed that the values of peak overshoot, settling time and other parameters, attain values
which improve the stability of the system.
Keywords : Separately Excited D.C Motor, MATLAB, Proportional-Integral Type Controller, SIMULINK, Chopper.

1. INTRODUCTION
Development of high performance motor drives is very
essential for industrial applications. DC drives, because of
their simplicity, ease of application, reliability and
favourable cost have long been a backbone of industrial
applications[1]. DC drives are less complex as compared to
AC drives system. DC drives are normally less expensive
for low horsepower ratings. DC motors have a long
tradition of being used as adjustable speed machines and a
wide range of options have evolved for this purpose.
Cooling blowers and inlet air flanges provide cooling air for
a wide speed range at constant torque[3]. DC regenerative
drives are available for applications requiring continuous
regeneration for overhauling loads. AC drives with this
capability would be more complex and expensive. Properly
applied brush and maintenance of commutator is minimal.
DC motors are capable of providing starting and
accelerating torques in excess of 400% of rated [5].
D.C motors have long been the primary means of electric
traction. They are also used for mobile equipment such as
golf carts, quarry and mining applications. DC motors are
conveniently portable and well fit to special applications,
like industrial equipments and machineries that are not
easily run from remote power sources.
2. RESEARCH METHODOLOGY
(i) Motor Parameters : A separately excited DC motor with
name plate ratings of320KW, 440V (DC), 55 rad/sec[2] is
used in all simulations. Following parameter values are
associated with it.
Moment of Inertia, J = 85 Kg-m
2
.
Back EMF Constant = 9 Volt-sec/rad.
Rated Current = 715 A.
Maximum Current Limit = 1000 A.
Resistance of Armature, Ra = 0.0241 ohm.
Armature Inductance, La = 0.718 mH.
Speed Feedback Filter Time Constant [4], T1= 25 ms.
Current Filter Time Constant [6], T2 = 3.5 ms.
(ii) Current Controller Parameters : Current PI type
controller is given by:K
C
{
(1+ 1
C
S)
1
C
S
}
T
C
=T
a
and K
C
=
R
c
1
c
2 K
2
K
tT
2

I
u
=
I
u
R
u
=
0.718 10
-3
0.0241
= 29.79 ms
For analog circuit maximum controller output is 10 Volts
[6].
Therefore,K
t
=
440
10
= 44
Also, K
2
=
10
1000
=
1
100

3. RESULTS
Matlab Simulation
(i) Motor Simulation : Based upon the parameters provided
in the problem statement, we get the transfer function of
motor for speed control as,
Vandana Jha and Dibya Bharti VSRDIJEECE, Vol. III (IV), April 2013 / 166


I
M
=
o(s)
v
c
(s)
=
4.425
0.02979s
2
+s+39.825
(1)
Fig. 1: Bode plots of motor transfer function.
(ii) Current Controller Simulation : Now, putting value of
Ra, Ta, K2, Kt and T2 we get:
K
C
=
0.718 10
-3
2 0.01 44 3.5 10
-3
= 0.233
Transfer Function of Current controller T
C
=
.233(1+S.2979)
.2979 S
=
.233+.941S
.2979 S
Fig. 2: Bode plots of current controller.
(iii) Simulation of motor with different types of standard
speed controller :

Fig. 3 : Simulink Model for Speed Control of Separately Excited DC motor using Chopper Converter
(without filter after reference speed using a Proportional speed controller)
Fig. 4 : Speed Response at reference speed same as rated
speed and full Load (without Filter with Proportional
speed controller)
Fig. 5 : Error in Speed Response at reference speed
same as rated speed and full Load (without Filter with
Proportional speed controller)
Vandana Jha and Dibya Bharti VSRDIJEECE, Vol. III (IV), April 2013 / 167


Fig. 6 : Speed Response at reference speed same as rated
speed and full Load (without Filter with Proportional
Integral speed controller)
Fig. 7 : Speed Response at reference speed same as rated
speed and full Load (without Filter with Proportional
Integral Derivative speed controller).

Fig. 8 : Error in Speed Response at reference speed
same as rated speed and full Load (without Filter with
Proportional Integral Derivative speed controller)
By changing the value of speed filter in the complete layout
of Separately Excited DC motor using Chopper Converter
with filter after reference speed from F
1
=1.002/(1+0.025s)
to F
2
= K
1
(1 +I
1
s) = 0.181/(1+0.025s), we get

Fig. 9 : Speed Response at reference speed same as
rated speed and full Load (with Filter with proportional
speed controller)
Fig. 10: Error in Speed Response at reference speed
same as rated speed and full Load (with Filter with
Proportional Controller)





Value of parameters in closed loop system with Filter with Proportional Controller
P Magnitude (speed) Overshoot (speed)
Settling time
(speed)
Settling time
(error)
Overshoot (error)
1 55.24 55.24 3.4 4 10 0
1.5 55.24 55.24 2.2 2.8 10 0
1.8 55.25 55.25 2.0 2.2 10 0
2.5 55.25 55.25 1.3 1.5 10 0
4 55.25 55.25 0.8 1.1 10 0
8 55.25 55.25 0.38 0.4 10 0
10 55.25 55.28 0.24 0.27 10 0
12 55.25 56.66 0.35 0.3 10 -0.1
Value of parameters in closed loop system with Filter with PI speed controller.
Vandana Jha and Dibya Bharti VSRDIJEECE, Vol. III (IV), April 2013 / 168


P I Magnitude (speed) Overshoot (speed)
Settling time
(speed)
Settling time
(error)
Overshoot (error)
1 1 55.26 69.2 6.5 6.8 10 -2.52
1 2 55.27 75.0 6.5 6.5 10 -3.60
2 1 55.28 61.0 4.5 6.0 10 -1.05
2 2 55.25 64.72 4.0 4.0 10 -1.71
4 4 55.25 61.33 3.5 3.5 10 -1.1
1 10 55.24 92 9.5 9.5 10 -6.6
10 1 55.38 55.38 0.3 0.3 10 0
10 10 55.25 58.65 3.0 3.0 10 -0.6
100 1 55.25 157 0.95 0.95 10 -7.05
20 20 55.25 68.8 2.0 2.0 10 -1.34
1 100 Infinite Infinite Infinite Infinite Infinite
Value of parameters in closed loop system with Filter with PID speed Controller.
P I D
Magnitude
(speed)
Overshoot
(speed)
Settling time
(speed)
Settling time
(error)
Overshoot
(error)
1 1 1 55.33 76 16 16 10 -3.76
1 1 10 33.44 90 Inf Inf Inf
5 5 5 55.25 72.75 12 12 10 -3.16
0 0 1 Error Error Error Error Error
5 5 50 Inf Inf Inf Inf Inf
10 10 10 55.4 Oscillatory oscillatory oscillatory Oscillatory
50 50 50 Error Error Error Error Error
Value of parameters in closed loop system without Filter with speed Controller.
Speed Filter Magnitude (speed) Overshoot (speed)
Settling time
(speed)
Settling time
(error)
Overshoot (error)
F
1
54.89 113 0.6 0.6 55 -30
F
2
303.9 416.6 1.1 1.1 55 -19
Value of parameters in closed loop systemwith Filterwith Controllerwith filterF
2
).
Speed Filter Magnitude (speed) Overshoot (speed)
Settling time
(speed)
Settling time
(error)
Overshoot (error)
F
2
55.25 75.68 1.1 1.1 10 -3.5
4. CONCLUSION
When the load is constant the speed response is smooth
after attaining steady state. But when the load is varying,
speed response have ripples due to time delay in achieving
desired speed. When load is constant and reference speed is
varying then speed response is shifting accordingly with a
time delay. When Reference speed and load is varying then
in speed response, speed is adjusting as well as there is
some ripple due to delay in achieving current reference
speed.
By changing the values of filters (filter after reference
speed, current filter and speed filter) in the complete layout
for DC motor speed control, we can get more accurate
results means overshoot and settling time can be reduced.
But the values of the filters can be changed to a limited
value because the value of inductance, capacitance and
resistance of the filters should be kept within permissible
limit.
5. FUTURE SCOPE
(i) The detailed analysis about the simulink
implementation of all control schemes and their
performance can be compared for variations in line and
load. Simulink models can be constructed.
(ii) MATLAB simulation for speed control of
separately excited DC motor has been done which can be
implemented in hardware to observe actual feasibility of the
approach applied in this thesis.
(iii) This technique can be extended to other types of
motors.
(iv) In this analysis, we have done speed control for
rated and below rated speed. So the control for above the
rated speed can be achieved by controlling field flux.
(v) The problem of overshoot can be removed using a
Neural Network and Fuzzy approach.
Vandana Jha and Dibya Bharti VSRDIJEECE, Vol. III (IV), April 2013 / 169


(vi) The values of filter after reference speed and
feedback filter can be changed to obtain more desirable
outputs in terms of stability and consistency.
6. REFERENCES
[1] Su, J.H.; Chen, J.J.; Wu, D.S.; Learning feedback controller
design of switchingconverters via Matlab/Simulink
Education, IEEE Transactions on, Volume: 45Issue: 4, Nov.
2002 Page(s): 307 -315
[2] Data Sheet NCP1570 Low Voltage Synchronous Buck
Controller, ONSemiconductor, 2002
[3] Data Sheet LTC1625 No Rsense Current Mode Synchronous
Buck Step-DownSwitching Regulator, Linear Technology,
2002
[4] Data Sheet UC1842 Current Mode PWM Controller, Texas
Instrument, 2002
[5] W. McMurray and D. P. Shattuck, A Silicon
ControlledRectifier Inverter with Improved Commutation,
Trans. AIEE,Part1, Vol. 80, p.531, 1961.
[6] Gopakumar, K., Power Electronics and Electrical Drives,
Video Lectures 1-25, Centre for Electronics and Technology,
Indian Institute of Science, Bangalore.


Vandana Jha and Dibya Bharti VSRDIJEECE, Vol. III (IV), April 2013 / 170