Parameter variation in separately excited DC Motor

Rakesh Sing Lodhi [1] Dr.H.K.Verma [2] Dr. D.P.Kothari [3]

Electrical Engineering Department
SGSITS Indore, India
rakeshlodhigs@gmail.com Vermaharishgs@gmail.com

Abstract:-This Paper proposes the MATLAB simulation of

Separately Excited DC Motor. The novelty of this paper lies in the
modeling & transfer function model of Separately Excited DC
Motor, PID Controller & Chopper. The separately excited DC motor
has been modeled using MATLAB 7.0 toolbox. The simulation
results of Separately Excited DC Motor in different parameters &
different simulation techniques have been obtained.

transducer as shown in figure:1.Speed control of Separately

excited DC motor by using chopper.PID controller is used in
place of speed controller. Chopper is used switched to force the
current down. On the other hand when the error reaches the
lower hysteresis limit a positive pulse is produced to increases
the current. Speed Transducer is used to sense the speed &
Current transducer is used to sense the current.

Keywords: Separately Excited DC Motor, MATLAB 7.0 toolbox,

Chopper, PID Controller.

I.

INTRODUCTION

Computer modeling and simulation tools have been extensively

used to support and enhance teaching of electric machinery
courses.MATLAB with its toolboxes such as Simulink [1] and
Sim Power Systems [2].Traditionally rheostatic armature control
method was widely used for the speed control of low power DC
motors. The desired torque-speed characteristics could be
achieved by the use of conventional proportional-integralderivative (PID) controllers. The difference between the desired
current, and the current being injected is used to control the
switching of the chopper circuit [3].Choppers are used for the
control of DC motors because of number of advantages, such as
high efficiency, flexibility in control, light weight, quick
response, and Regeneration down to very low speeds. Chopper
controlled DC drives have also applications in servos in battery
operated vehicles such as forklift trucks, trolleys, and so on. The
separately excited DC motor is also employed in traction.
Regenerative braking of a SEDM is fairly simple and can be
carried out down to very low speeds. A chopper can be operated
at high frequency [4].
II.

SPEED CONTROL SYSTEM

In speed control system it has six blocks DC motor, chopper,

current controller, speed controller current transducer & Speed

III.

MODELING OF DC MOTOR

The state space model of separately excited dc motor is as

follows:

X A x B u

Y C x D u

Ra
K
1
x1
x1
x2
u (1)
La
La
La

K
B
1
x2
x1 x2 TL (2)
J
J
J

 Ra K 1
0
La La X1 La
u
K B X2 1
0
J J J

(s)
V (s)
a

K
(Ra SLa )(JS B)S KK b S

K t
dE
C(t) K C E(t) C E(t).dt K C TD
TI 0
dt

By Taking Laplace Transform;

C(s) K C E(s)

K C E(s)

sK T E(s)
C D

TI s

K
C (s)
C T s s 2T T 1
G( s)
I
D I
E (s)
T s
I

Where:
G(s) is Gain of PID Controller
TI = Integral control
TD = Derivative Control

V.

CHOPPER

Choppers are used for the control of DC motors because of

number of advantages, such as high efficiency, flexibility in
control, light weight, quick response, and Regeneration down to
very low speeds. Chopper controlled DC drives have also
applications in servos in battery operated vehicles such as forklift
trucks, trolleys, and so on. The separately excited DC motor is
also employed in traction. Regenerative braking of a SEDM is
fairly simple and can be carried out down to very low speeds. A
chopper can be operated at high frequency.
The chopper is modeled as a first order lag with a gain of K r. The
time delay corresponds to the statistical average conduction time,
which can vary from zero to T.The Transfer Function is then:

Gr ( s )

PID Controller is used as speed controller. The characteristic of

PID control action are no oscillations, improves the transient
response, and improves the steady state response. The
mathematical formulation is:

sT

2

SPEED CONTROLLER

Kr
IV.

Kr
sT
1

Figure: 4 Transfer Function of Chopper

VI.

. SPEED CONTROL OF SEDM BY PARAMETER

VARIATION

The motor must be separately excited to use armature voltage

control. When the armature voltage is increased, the no load

speed of the motor increases while the slope of the torque speed
curve remains unchanged since the flux is kept constant [3]. The
desired torque speed characteristics could be achieved by the use
of conventional proportional integral derivative (PID) controller
[4].The block diagram of speed control of SEDM using chopper
is shown in figure 5.

VII.

SIMULATION AND RESULTS

Simulation of Separately excited dc motor in

deferent parameters & different simulation
technique are given in figure 6,7& 8

VIII.

CONCLUSION

The speed takes a certain time to initially reach the

level of the final value (the rise time). The speed
overshoots the level of the final value. The speed
oscillates about the level of the final value.
The chopper-fed dc series motor is essentially a
sampled data system. It can be approximated by an
equivalent continuous model for predicting transient
response, involving variations of average speed and
current with time, due to change in either duty ratio or
load torque TL.
References
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users guide,MathWorks Inc., Natick, MA, 2002.

[3] Handbook of power electronics second edition Tata Mc-Graw-Hill by MD

Singh, K B Khanchandani page 888.
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