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BACHELOR OF TECHNOLOGY
in
ELECTRICAL ENGINEERING
We hereby declare that the work is presented in this report entitled "Speed Control
With Low Armature Loss For Very Small Sensorless Brushed DC Motors"
towards partial fulfillment for award of the degree of Bachelor Of Technology in
Electrical Engineering at National Institute Of Technology Kurukshetra, is an
authentic record of work under the supervision of Prof. Rahul Sharma .
The work presented in this report has not been submitted by us for the reward of any
other degree of this or any other institute. We have taken care in all respects to honor
the intellectual property right and have acknowledged the contribution(s) of others for
using them for this academic purpose. We will be liable for full or partial violation of
copyright or intellectual property right if found at any stage, not my supervisor(s)/
Head of Department/ Institute.
Ankur Diwan
ACKNOWLEDGEMENT
We acknowledge with great pleasure our deep sense of gratitude to Prof. Rahul Sharma
, Department of Electrical Engineering, NIT Kurukshetra, for his constant
encouragement, valuable guidance in the successful completion of the Design Project.
We are very much indebted to him for suggesting this topic and helping us at every stage
for its successful completion.
The submission of this report gives us an opportunity to convey our gratitude to all those
who helped us reach a stage where We are much confident in launching our career in the
competitive world of Electrical Engineering.
We express our profound thanks to Prof. Ratna Dahiya, HOD, Dept. of Electrical
Engineering, NIT Kurukshetra for her encouragement and providing us with outstanding
facilities for the completion of our project work.
We would also like to thank our parents, seniors and friends, without whose support We
would not have been able to reach this important moment of our life. At last we gratefully
acknowledge our deep indebtedness to all other people who helped us during the whole
period of the work.
Fig. 1.
Equivalent circuit of a small motor driven by a dc power supply. The motor terminal
voltage Vt is the only node in the electrical circuit that can be measured directly. The motor
inductance, series resistance, and back EMF are designated as Lm, Rm, and Vm, respectively.
The flywheel diode needs to be considered only in the case of large-signal pulsed operation.
3.NEGATIVE RESISTANCE CONTROL
Fig. 1 shows the equivalent circuit representing a small dc motor driven by a dc power supply.
The motor inductance, series resistance, and back EMF are designated as Lm, Rm, and Vm,
respectively. The supply is represented as a voltage source and series resistance, which
are VS and RS, respectively. For a permanent-magnet (PM) dc motor,
Vm=kesΘ (1)
Tm=ktIm (2)
where Θ is the shaft angular position and sΘ is the angular velocity, Tm is the shaft torque,
and ke and kt are constant parameters of the motor. The aim of a speed controller is to keep the
angular velocity and, thus, Vm constant.Working in Laplace transforms, Kirchoff's voltage law
yields
Vskt−(Rm+Rs+sLm)Tm
sΘ = (3)
kekt
where Tm is the torque delivered to the armature from the electrical side; Newton's law yields
Tm=s(Js+b)Θ+TL (4)
where J is the mechanical moment of inertia at the armature shaft, b is the damping ratio
(frictional torque constant) of the system, and TL is any externally applied load torque.
Combining (3) and (4) yields the shaft speed as a function of supply voltage in the open-loop
case
ktVs−(Rs+Rm+sLm)Tl
sΘ = (5)
kekt+(Rs+Rm+sLm)(Js+b)
A measure of the effectiveness of a controller is the change in speed that arises from a change in
load torque
∂sΘ −(Rs+Rm+sLm)
= (6)
∂Tl kekt+(Rs+Rm+sLm)(Js+b)
When dealing with small motors, transients settle quickly, and therefore, provided that the
system is well behaved, it is usually the steady-state response that is important. Let the steady-
state change in speed with change in load be
ΔΘ̇ −(𝑅𝑠+𝑅𝑚)
R= = (7)
Δ𝑇𝑙 𝑘𝑒𝑘𝑡+𝑏(𝑅𝑠+𝑅𝑚)
which will be small if RS+Rm is small. In motors of the size range found in small
appliances, Rm and RS can be made sufficiently small that further speed regulation beyond the
control of VS is not needed [9]. However, very small motors are becoming more common as
mechatronic devices shrink, and they may have tens of ohms of series resistance.
The source resistance RS can be set by electronics in the power supply. Putting
Rs = −Rm (8)
when R goes to zero and steady-state error vanishes. Since a typical active dc power supply
measures both its own output voltage Vt and its load current Im in this case, it is straightforward
to dial up a negative output resistance and achieve a desired steady-state back EMF of, for
example, Vset, by setting
Vt = Vset+ImRm (9)
Fig. 2.
Block diagram of a practical implementation of the controller. In the diagram, Vt shows the
motor terminal voltage, and sΘ is the shaft speed that we seek to control. The estimate of motor
resistance is R′m. Numbers designate the corresponding equation from the text that describes the
response of each block.
Fig. 2 shows the block diagram of a practical implementation of a controller. Returning to (1)–(4) but
now solving for the armature current Im(Vt) yields
𝑉𝑡(𝐽𝑠+𝑏)+𝑘𝑒𝑇𝑙
Im = (11)
𝑘𝑒𝑘𝑡+(𝑅𝑚+𝑠𝐿𝑚)(𝐽𝑠+𝑏)
− 𝐑′𝐦 −𝒑 𝐑′𝐦
Vc = 𝒔 Im = Im (12)
𝟏+ 𝒑+𝒔
𝒑
while it is easy to show that the motor speed as a function of terminal voltage sΘ(Vt) is
ktVt−(Rm+Rs+sLm)Tl
sΘ = (13)
kekt+(Rm+sLm)(Js+b)
In the case where R′m=Rm and p is large, the steady-state conditions reduce to the situation
of (9), and the steady-state error will vanish. In practice, performance will be limited by a
pessimistic estimate of R′m maintained in the interest of stability in the face of drift and noise.
SIMULATION
REFERENCES
1. Jonathan Scott,Speed Control With Low Armature Loss For Very Small Sensorless
Brushed DC Motors,IEEE Transactions On Industrial Electronics ,VOL.56,NO.4,April
2009 .
5. H. Wertz, F. Schutte, "Self-tuning speed control for servo drives with imperfect
mechanical load", Conf. Rec. IEEE IAS Annu. Meeting, vol. 3, pp. 1497-1504, 2000.
6. Z. Gmyrek, A. Boglietti, A. Cavagnino, "Iron loss prediction with PWM supply using
low- and high-frequency measurements: Analysis and results comparison", IEEE Trans.
Ind. Electron., vol. 55, no. 4, pp. 1722-1728, Apr. 2008.
8. T. Castagnet, J. Nicolai, "Digital control for brush DC motor", IEEE Trans. Ind. Appl.,
vol. 30, no. 4, pp. 883-888, Jul./Aug. 1994.