A SIMULATION BASED MINOR PROJECT REPORT
Transcript of A SIMULATION BASED MINOR PROJECT REPORT
A SIMULATION BASED MINOR PROJECT REPORT
on
DC MOTOR MODELING
by
Sudhanshu Kumar Verma (1403221104)
Vinay Kumar Chaudhary(1403221116)
Submitted to the Department of Electrical and Electronics Engineering
in partial fulfillment of the requirements
for the degree of
Bachelor of Technology
in
Electrical and Electronics Engineering
ABES Engineering College, Ghaziabad
Dr. A.P.J Abdul Kalam Technical University, Uttar Pradesh, Lucknow
November,2016
TABLEOFCONTENTS
DECLARATION………………………………………………………………….. I
ACKNOWLEDGEMENTS………………………………………………………. Ii
LIST OF TABLES…………………………………………………………………. IiiLIST OF FIGURES………………………………………………………………… Iv
LIST OF SYMBOL………………………………………………………………… V
LIST OF ABBREVIATIONS……………………………………………………… Vii
CHAPTER 1 (DC MOTOR) 1
1.1. WORKING PRINCIPLE 5
1.2. TYPES OF DC MOTOR 81.2.1 DC SHUNT MOTOR1.2.1 DC SERIES MOTOR 10
1.2.2 DC COMPOUND MOTOR 12
CHAPTER 2 (MATLAB MODEL OF DC MOTOR) 18
2.1 SHANT MOTOR MODEL 18
2.1.1 MODELLING EQUATIONS OF DC SHUNT MOTOR
2.1.2 SAMPLE PARAMETERS 23
2.2
2.1.3 RESULTS
SERISE MOTOR MODEL24
APPENDIX A………………………………………………………………………. 26
REFERENCES……………………………………………………………………… 30
DECLARATION
We hereby declare that the project work entitled “DC motor modeling” submitted to the
ABES Engineering College is a record of and original work done by us under the
guidance of “Dr. Javed Dhillon (PhD)” , Senior Assistant Professor, Dept. of Electrical
and Electronics Engineering in ABES Engineering College and this project is submitted
in partial fulfillment of the requirement for award of the degree of B.Tech in Electrical
and Electronics Engineering.
Signature:
Name : Sudhanshu Kumar Verma
RollNo.: 1403221104
Date :
Signature:
Name : Vinay Kumar Chaudhary
RollNo.: 1403221116
Date :
ACKNOWLEDGEMENT
It gives us a great sense of pleasure to present the report of B.Tech Project undertakenduring B. Tech. Third Year. We, Sudhanshu Kumar Verma and Vinay KumarChaudhary third year student of Electrical and Electronics branch owe special debt ofgratitude to Dr. Javed Dhillon (PhD), Department of Electrical and ElectronicsEngineering, ABES Engineering College, Ghaziabad for his constant support andguidance throughout the course of our work. His sincerity, thoroughness andperseverance have been a constant source of inspiration for us. It is only his cognizantefforts that our endeavors have seen light of the day.
We also do not like to miss the opportunity to acknowledge the contribution of all facultymembers of the department for their kind assistance and cooperation during thedevelopment of our project. Last but not the least, we acknowledge our friends for theircontribution in the completion of the project.
Signature: Name : Sudhanshu Kumar Verma
RollNo.:1403221104
Date :
Signature: Name :Vinay Kumar Chaudhary
RollNo.: 1403221116
Date :
ABSTRACT
The project describes a method of modeling and simulation of DC motor i.e DC shunt and
DC series motor which is implemented in MATLAB R2013b..The project reveals the
characteristics of angular velocity and time, torque and time and current and time of DC
motor .
The project has used different parameter of dc motor as per requirement .The parameter
used are armature inductance, armature resistance, field resistance and field inductance
etc .The simulation result gives the graph of torque, angular velocity, current with respect
to time .It’s result indicates that the created simulation blocks in the MATLAB model
similar to dc motor model
CHAPTER 1
INTRODUCTION
A DC motor is any of a class of electrical machines that converts direct current electrical
power into mechanical power. Nearly all types of DC motors have some internal mechanism,
either electromechanical or electronics, to periodically change the direction of current flow in
part of the motor. Most types of DC motor produce rotary motion; a linear motor directly
produces force and motion in a straight line.
DC motors were the first type widely used, since they could be powered from existing direct-
current lighting power distribution systems. A DC motor's speed can be controlled over a wide
range, using either a variable supply voltage or by changing the strength of current in its field
windings. Small DC motors are used in tools, toys, and appliances. Larger DC motors are used
in propulsion of electric vehicles, elevator and hoists, or in drives for steel rolling mills.
Figure 1: DC MOTOR1.1 WORKING PRINCIPLE OF DC MOTOR
In any electric motor, operation is based on simple electromagnetism. A current
carrying conductor generates a magnetic field; when this is then placed in an external
magnetic field, it will experience a force proportional to the current in the conductor,
and to the strength of the external magnetic field.
Figure 2: Working of dc motorThe very basic construction of dc motor contains a current carrying armature which is
connected to the supply end through commutator segments and brushes it is placed within the
north south poles of a permanent or an electro-magnet.
The operating principle of dc motor its important that we have a clear understanding of
Fleming’s left hand rule to determine the direction of force acting on the armature
conductors of DC motor. Fleming’s left hand rule says that if we extend the index finger,
middle finger and thumb of our left hand in such a way that the current carrying conductor is
placed in a magnetic field (represented by the index finger) is perpendicular to the direction of
current (represented by the middle finger), then the conductor experiences a force in the
direction (represented by the thumb) mutually perpendicular to both the direction of field and
the current in the conductor.
1.2 TYPES OF DC MOTOR
There are three basic types of dc motors:
(1) Series motors.
(2) Shunt motors.
(3) Compound motors.
They differ largely in the method in which their field and armature coils are connected.
1.2.1 SHUNT MOTOR
In the shunt motor the field winding is connected in parallel or in shunt with the armature
winding. The resistance in the field winding is high. Since the field winding is connected
directly across the power supply, the current through the field is constant. The field current
does not vary with motor speed, as in the series motor and, therefore, the torque of the shunt
motor will vary only with the current through the armature. The torque developed at starting is
less than that developed by a series motor of equal size.
Figure 3: Circuit of shunt motor
The speed of the shunt motor varies very little with changes in load. When all load is removed,
it assumes a speed slightly higher than the loaded speed. This motor is particularly suitable for
use when constant speed is desired and when high starting torque is not needed.
By applying KCL at the junction A in the above figure.
The sum of the incoming currents at A = Sum of the outgoing currents at A.
Where,
I is the input line current
Ia is the armature current
Ish is the shunt field current
Equation (1) is the current equation.
The voltage equations are written by using Kirchhoff’s voltage law (KVL) for the field winding circuit.
For armature winding circuit the equation will be given as
1.2.2 SERIES MOTOR
In the series motor, the field windings, consisting of a relatively few turns of heavy wire, are
connected in series with the armature winding. Both a diagrammatic and a schematic
illustration of a series motor. The same current flowing through the field winding also flows
through the armature winding. Any increase in current, therefore, strengthens the magnetism
of both the field and the armature.
Because of the low resistance in the windings, the series motor is able to draw a large current
in starting. This starting current, in passing through both the field and armature windings,
produces a high starting torque, which is the series motor's principal advantage.
Figure 4: Circuit of series motor
By applying the KCL in the above figure.
Ise is the series field current
The voltage equation can be obtained by applying KVL
V = E + I (Ra + Rse).
1.2.3 COMPOUND MOTOR
The compound motor is a combination of the series and shunt motors. There are two windings
in the field: a shunt winding and a series winding. The shunt winding is composed of many
turns of fine wire and is connected in parallel with the armature winding. The series winding
consists of a few turns of large wire and is connected in series with the armature winding. The
starting torque is higher than in the shunt motor but lower than in the series motor. Variation
of speed with load is less than in a series wound motor but greater than in a shunt motor. The
compound motor is used whenever the combined characteristics of the series and shunt motors
are desired.
Because of the series field, the cumulative compound motor has a higher starting torque than a
shunt motor. Cumulative compound motors are used in driving machines which are subject to
sudden changes in load. They are also used where a high starting torque is desired, but a series
motor cannot be used easily.
In the differential compound motor, an increase in load creates an increase in current and a
decrease in total flux in this type of motor. These two tend to offset each other and the result is
a practically constant speed. However, since an increase in load tends to decrease the field
strength, the speed characteristic becomes unstable. Rarely is this type of motor used in
aircraft systems.
Figure 5: Circuit of compound motor
The compound motor is further subdivided as Cumulative Compound DC Motors and
Differential Compound Motor. In cumulative compound motor the flux produced by both
the windings is in the same direction, i.e.
In differential compound motor, the flux produced by the series field windings is opposite to
the flux produced by the shunt field winding, i.e.
The positive and negative sign indicates that direction of the flux produced in the field
windings.
CHAPTER 2
DC MOTOR MODEL2.1 DC SHUNT MOTOR MODEL
Figure 6: DC shunt motor model
2.1.1 MODELLING EQUATIONS OF DC SHUNT MOTOR Armature circuit Ia(s)=1*(Ea(a)-Eb(s))/Ra+La*S
Motor torque T(s)=Kt*Ia(s)
Back EMF Eb(s)=Kb*Ω(s)
Mechanical load Ω(s)=1*(T(s)-TL(s))/Js+B
2.1.2 SAMPLE PARAMETERS
La = 0.0062 Armature Inductance
Ra = 0.18 Armature Resistance
Rf =12 Field Resistance
Lf = 0.01 Field Inductance
Bm = 0.007 Friction Coefficient
J = 0.04 Inertia Constant
Tf = 1.5 Simulation Time
2.1.3 RESULTS
a) Angular velocity:
This result depicts the Speed Time characteristics of DC motor with variation of the Load
across its.
Figure 7: Angular velocity
b) Output torque:
This result depicts the Torque Time characteristics of the DC motor with variation of the
Load across its.
Figure 8: Output torque
c) Armature output current:
This result depicts the Current Time characteristics of the DC motor with variation of
the Load across its.
Figure 9: Armature current
2.2 DC SERIES MOTOR MODEL
Figure 10: DC series motor model
2.2.1 MODELLING EQUATIONS OF DC SHUNT MOTOR
2.1.2 SAMPLE PARAMETERS
La = 0.0062 Armature Inductance
Ra = 0.18 Armature Resistance
Rf =12 Field Resistance
Lf = 0.01 Field Inductance
Bm = 0.007 Friction Coefficient
J = 0.04 Inertia Constant
Tf = 10 Simulation Time
Figure is our Matlab Model for dc shunt motor. In this model we have used different
Matlab blocks. All these blocks are explained below:
a) Step input: The Step block provides a step between two definable levels at a specified
time. If the simulation time is less than the Step time parameter value, the block's
output is the Initial value parameter value. For simulation time greater than or equal to
the Step time, the output is the Final value parameter value.
b) Summer: The Sum block performs addition or subtraction on its inputs. This block can
add or subtract scalar, vector, or matrix inputs. It can also collapse the elements of a
signal. The operations of the block with the List of signs parameter. Plus (+), minus (-),
and spacer (|) characters indicate the operations to be performed on the inputs.
c) Gain: The Gain block multiplies the input by a constant value (gain). The input and the
gain can each be a scalar, vector, or matrix. You specify the value of the gain in the
Gain parameter. The Multiplication parameter lets you specify element-wise or matrix
multiplication. For matrix multiplication, this parameter also lets you indicate the order
of the multiplicands. The gain is converted from doubles to the data specified in the
block mask offline using round-to-nearest and saturation. The input and gain are then
multiplied, and the result is converted to the output data type using the specified
rounding and over flow modes.
d) Integrator: The Integrator block outputs the value of the integral of its input signal with
respect to time. The Integrator Limited block is identical to the Integrator block with
the exception that the output of the block is limited based on the upper and lower
saturation limits. See Limiting the Integral for details. Simulink® treats the Integrator
block as a dynamic system with one state. The block dynamics are given by:
x(t) = u(t)
y(t) = x(t) x(t0) = x0
where :
u is the block input.
y is the block output.
x is the block state.
x0 is the initial condition of x.
2.1.3 RESULTS
a) Angular velocity:
This result depicts the Speed Time characteristics of DC motor with variation of the Load
across its.
Figure 11: Angular velocity
b) Output torque:
This result depicts the Torque Time characteristics of the DC motor with variation of the
Load across its.
Figure 12: Output torque
c) Armature output current:
This result depicts the Current Time characteristics of the DC motor with variation of
the Load across its.
Figure 13: Armature current
(Example)
LISTOFSYMBOLS
[x] Integer Value ofx.
≠ Not Equal
EBelongs to
€ Euro-A Currency
_ Optical distance
_o Optical thickness or optical halfthickness
(Example)
LISTOFABBREVIATIONS
AAM ActiVeAppearanceModel
ICA Independent ComponentAnalysis
ISC Increment Sign Correlation PCA
Principal Component Analysis ROC
ReceiVerOperatingCharacteristics
(Exampleof References using theNumeric System)
REFERNCES
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APPENDIX
FORMAT OF CDCONTAINING COMPUTERSOFTWARE
Eachsoftwaredevelopedby theProject'sGroupshouldbeburntinaCDwithproperdocumentation.TheCDshouldcontainfilescontainingthesimulation model,oneormoresampleinputandcorrespondingoutput or resultsseparately.Other than these there mustbe anotherfilenamed "READ.ME".In this ASCIItext file, the followingsections must be appear.
Author'sIdentity.AfileshouldcontainthenameofeachprojectgroupmemberalongwiththeProject title.
Files intheCD.In this section, the names ofthefiles together with their contents must belisted.
SoftwareRequirements.Inthissection,theOperating system,Matlab versiondetails,mustbelisted.