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Developing an Automatic Voltage Regulator system using a Direct current

motor for varying generator field excitation for keeping constant output voltage

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Biswadip Basu Mallik

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 Developing an Automatic Voltage Regulator system
using a Direct current motor for varying generator
field excitation for keeping constant output voltage
Dipankar Chatterjee
GIE ( Institution of Engineers, India)
Electrical Engineering Division
Email : acyabc@gmail.com
Abstract— Nowadays variation of output voltage from a
generator is an important factor during the operation of the
generator. E.m.f induced in a generator can be varied by
variation of speed of generator, number of terms of coil winding,
field excitation.The output voltage varies with the variation of the
load attached to the generator.The output voltage must always be
kept approximately constant for proper operation of the load
devices connected to it. Here in this paper we have discussed
automatic voltage regulator using direct current motor for
variation of field excitation of generator to keep output voltage
constant. In this paper importance of all the machines and
devices used has been described briefly. The working principle of
the system has been described with proper circuit diagram and
suitable mathematical expressions have been given for describing
the working principle of this automatic voltage regulator system.
Keywords- E.m.f, Field Excitation ,Direct Current Motor,
Reference voltage, Angular displacement
I. INTRODUCTION
When the flux through a closed coil varies with respect to
time an instantaneous emf will be generated in the closed coil.
This is the working principle of a generator for generation of
emf[1].Now the emf generated in the generator armature coil
is directly proportional to the number of turns of the coil and
rate of change of flux with respect to time[2]. So emf generated
in a generator can vary due to the variation of the following
parameters
(a) Speed of rotation of generator
(b) Field excitation applied to the generator
(c) Number of turns
Assuming the number of turns to be fixed for a given generator
in a given system, E.m.f of generator can vary by variation of
field excitation or speed of the generator.
Now if the above three parameters remain constant, the
output voltage of the generator can also vary due to variation
in load attached to the generator. But the output voltage should
B.Basu Mallik
Department of Basic Science & Humanities
Institute of Engineering & Management
Salt Lake Electronics Complex,
Kolkata-700091. West Bengal. India
Email : b.basumallik@gmail.com
remain constant irrespective of the variation in load attached to
the generator[3]. So if output voltage of the generator varies,
the field excitation or the speed of rotation of the generator
should be changed according to the requirement to keep the
output voltage constant. This is the basic idea for the
requirement of automatic voltage regulator. Here we will
describe a method of developing an automatic voltage regulator
in the following using direct current motor to vary the field
excitation of the generator as the output voltage of the
generator varies.
II CONSTRUCTION
The construction of the automatic voltage regulator system is
described briefly in the following. The system consists of the
following machines and devices.
(a) Stabilized voltage supply : In this system a stabilized
voltage supply is required which acts as a reference voltage
source with which the output is compared.
(b) Comparator : A comparator is required where output
voltage is compared to the reference voltage so that if the
output voltage varies an error signal is generated from the
output of the comparator. The comparator can be developed by
the use of operational amplifier using it as subtractor
(c) Amplifier : Output voltage from comparator is fed to the
amplifier to get amplified error signal to drive the motor. This
can also be developed by the operational amplifier[4].
(d) Direct current motor : Direct current motor is used where
shaft of motor is connected to the field excitation coil of the
generator. Output voltage of the amplifier is applied to
armature terminals of the motor. This is a separately excited
motor. This motor will act as the armature controlled direct
current motor.
III PRINCIPLE OF OPERATION
In this automatic voltage regulator system,closed loop control
system is used for controlling the output voltage of the
generator[5]. The output voltage from the generator is
compared with the reference voltageV1.
The stabilized voltage supply will act as the reference voltage
source. If output voltage Vo varies, then there is a difference
between the reference voltage V1 and the output voltage Vo.
Thus an error signal V2 will be generated from the output of the
comparator. This output signal from the comparator is fed to
the amplifier input with gain Ka as given in figure (1). Here the
signal is amplified and the output signal Va is applied to the
input terminals of a direct current motor. The field excitation of
the motor is constant and it is supplied from a separate voltage
source.
If there is a difference of reference voltage and output voltage
then the a voltage Va acts as the input voltage for the motor and
torque Tm is generated in the motor shaft and the motor rotates.
The direction of rotation of the motor is determined by the
polarity of error voltage of the amplifier. This will cause an
angular displacement θm of the motor shaft. Now the shaft of
the motor is connected to the field coil of the constant speed
generator.
If output voltage Vo increases then the motor rotates in such a
direction that lowers the terminal connected to the field coil of
generator similar to the potential divider arrangement. So the
field excitation voltage decreases and output voltage of
generator decreases.
If output voltage decreases then motor rotates in such a
direction that lifts the terminal connected to the field coil of the
generator. So field excitation of the generator increases. Thus
the output voltage of generator increases. In this way the output
voltage of generator remains almost constant.
IV MATHEMATICAL EXPRESSION
Va = Voltage applied to the direct current motor terminals in
volt
Vb = Counter E.m.f generated in the motor armature in volt
Ra = Motor armature circuit resistance in ohm
La = Motor armature circuit inductance in henry
Kb = E.m.f constant of the motor in volt per radian
θm = Angular displacement of the motor shaft in radian
Ia = Armature current in ampere
Tm = Torque produced in the motor in Nm
Ki = Motor torque constant in Nm per ampere
Jm = Motor moment of inertia
fm = Motor viscous friction co-efficient
From figure 2 it can be said that the applied voltage to the
motor terminals is
va = Raia +La(dia /dt) +vb
Taking the Laplace transformation of the above expression we
get
Va (s) = (Ra + sLa )Ia(s) +Vb(s)
 = (Ra+ sLa )Ia(s) +Kbsθm(s)
Thus the armature current of the motor is given by
Ia (s) = {Va(s) – Kbsθm(s)}/(Ra + sLa )
Due to the flow of armature current the torque produced in
motor shaft is
Tm(s) = KiIa(s)
or Tm(s) = Ki{Va(s) - Kbsθ (s)}/(Ra + sLa )
The angular displacement of the motor shaft due to the motor
torque can be expressed as
Tm(s) = (Jms+fm )sθm(s)
Thus
(Jms +fm )sθm(s) = Ki {Va – Kbsθm(s)}/(Ra + sLa )
Simplifying the above expression we get
θm(s)/Va(s) = Ki / {s(Jms+fm )(Ra +sLa )+ sKbKi}
Thus the angular displacement of the motor shaft is
θm(s) = KiVa(s) / {s(Jms+fm )(Ra +sLa )+ sKbKi}
The motor shaft is connected to the generator field coil so that
any angular displacement of motor shaft will produce linear
displacement of the terminal connected to the generator field
coil and this is acting as the potential divider.
∆Vf = Change in generator field voltage due to angular
displacement of the motor shaft in volt
∆Eg = Change in E.m.f generated in the generatorin volt
∆If = Change in generator field current in ampere
Rf = Generator field resistance in ohm
Lf = Generator field inductance in henry
∆Vo = Generator output voltage in volt
Ra1 = Generator armature resistance in ohm
Ia1 = Generator armature current in ampere
The change in the generator field voltage due to the angular
displacement of the motor shaft is given by
∆Vf (s) = K1θm(s)
Where K1 is the proportionality constant
The change in generated E.m.f in generator armature due to the
change in field flux can be expressed as
∆Eg(s) = Kg∆φ(s)
or ∆Eg(s) = KgKφ ∆If(s)
where Kg and Kφ are proportionality constants
The output voltage of the generator is given by
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∆Vo(s)= ∆Eg(s) – Ia1Ra1
Assuming Ia1Ra1 voltage drop to be negligible compared to
generated E.m.f the change in output voltage can be expressed
as
∆Vo(s) = ∆Eg(s)
or ∆Vo(s) = KgKφ ∆If(s)
Now the change in generator field current is given by
∆vf = Rf∆if + Lf(d∆if /dt)
Taking the Laplace transformation of the above expression we
get
∆Vf (s) = ∆If(s) (Rf +sLf )
or ∆If(s) = ∆Vf(s) /(Rf + sLf )
Thus
∆Vo(s) = KgKφ∆Vf (s)/(Rf + sLf )
= K1KgKφθm(s)/(Rf + sLf )
Thus the change in output voltage of generator due to the
change in input voltage to the motor terminals is given by
∆ Vo(s) = K1KgKφKiVa(s) /(Rf +sLf){s(Jms+ fm )(Ra +sLa )+
sKbKi}
Thus from the above expression it can be said that if there is a
difference between the reference voltage and the output voltage
due to the variation of the output voltage, then this system will
act immediately to keep the output voltage approximately
constant.
REFERENCES
[1] D.P.Kothari, I.J.Nagrath, “Electric Machines”, Third
Edition, page- 203
[2] P.S.Bimbhra, “Electrical Machinery”, page – 250-252,
256-259
[3] D.P.Kothari, I.J.Nagrath, “Power System Engineering”,
Second edition, page-409-410
[4] M.K.Mukherjee, “Foundation of Electron Devices and
Circuits”,Millenium Edition 2001, page-183-184
[5] B.S.Manke, “Linear ControlSystem with MATLAB
Applications” , Seventh Edition, page - 2