AN APPLICATION OF MATLAB/SIMULINK FOR SPEED CONTROL OF DC SERIES MOTOR USING BUCK CONVERTER

JOY BANDHYAPADHYAY Electrical Engg. Dept. Dr. B.C Roy Engg. College Durgapur,India Joybndpdh06@gmail.com

ARGHYA MUKHERJEE Electrical Engg. Dept. Dr. B.C Roy Engg. College Durgapur,India arghyamu@gmail.com

SUMAN GHOSH Electrical Engg. Dept. Dr. B.C Roy Engg. College Durgapur,India eternalsomu@gmail.com

Abstract In this paper, a strategy, in view of practical simplicity, is implemented to provide a somehow fast and accurate control over non-linear effects of load/switching dynamics. This paper investigates speed control of a dc series motor based on a simulation environment developed within Simulink and Matlab for evaluation of the speed/current control of a prototype series DC motor. It has been shown here the use of buck converter which paves the way of controlling also torque speed characteristics of dc series motor as well as field current, electromechanical torque .This provides paper provides fast and accurate response alongside with protection to the buck converter. Keywords: DC series motor; buck converter; snubber circuit ; MATLAB/Simulink

I. INTRODUCTION With the help of modern software technologies industrial applications have become much more relevant and important in the field of engineering. The Matlab software is a highly versatile and efficient computing language that has been developed by Mathwoks Matlab developers. Not only extremely high, efficient programs can be done here which is much more user friendly, but very complex circuits can also be developed with the help of Simulink. DC motors speed can be controlled by field resistance, armature resistance and armature voltage methods. But in this paper a technique of drive has been used for dc motors speed control that is buck converter. Buck converter has been implemented by combination of IGBT and Freewheeling diode as well as GTO thyristor and freewheeling diode. The circuits have all been developed here with the help of tools available in simulink [1] and simpowersystems [2] software packages. In this paper dc series motor has been considered as sample. In case of dc series motor we know that its characterised by high torquelow speed operation. So the aim of this paper is to make sure that speed, torque, armature current ,voltage become constant even if load goes on increasing.

II. BUCK CONVERTER It consists a set of diode and switch along with a lowpass LC filter. Using a proper duty cycle control over the switches, it is possible to control the output voltage. Here, a diode and a switch are needed to implement a complete buck converter operation. From basic power electronics, buck converter may be in either continuous conduction mode (CCM) or discontinuous conduction mode(DCM).The operation of buck converter be it in CCM or in DCM depends upon the load resistance Rl, motors inductance L, pulse duration D, and switching frequency 1/Ts. Flywheel is used to reduce the peak demand by the motor in case of heavy loads .A buck converter has its design similar to the step-up boost converter ,and like the boost converter it is a switched-mode power supply that uses two switches (a transistor and a diode), an inductor and a capacitor. It is a step-down DC to DC converter. The linear regulators such as a 7805 can be used to reduce the voltage of a DC supply but linear regulators waste energy as they operate by dissipating excess power as heat. Buck converters, in the other way, can be effectively efficient (95% or higher for integrated circuits), making them useful for tasks such as converting the 1224 V typical battery voltage in a laptop down to the few volts needed by the processor. The operation of the buck converter is fairly simple, with an inductor and two switches (usually a transistor and a diode) that control the inductor. It alternates between connecting the inductor to source voltage to store energy in the inductor and discharging the inductor into the load

Fig 1. BUCK CONVERTER

where J = inertia, Bm = viscous friction coefficient, and Tf = Coulomb friction torque. A DC motor is fed by a DC source through a chopper which consists of IGBT and a free-wheeling diode. IV. SPEED CONTROL speed control is achieved by adjusting the field Ampere-turns. It can be done by the following methods :( a) flux control method
Fig 2. BUCK CONVERTER IN ON-OFF POSITION

(i) by field diverters that is a low ohmic value variable resistance and high current carrying capacity connected in parallel to the field winding. (ii)by armature diverters that is variable resistance connected in parallel to armature winding. (iii)tapped field control that is flux changing is obtained by using different tappings of the field windings by means of a rotary switch connected to the field tappings. (iv)paralleling field coils (b)variable resistance in series that is normally not used due to high power loss and power input to the armature will become small . V. RC SNUBBER

III. DC SERIES MOTOR The DC series motor provides high starting torque and is able to move very large shaft loads when it is first energized. Since the series field winding is connected in series with the armature, it will carry the same amount of current that passes through the armature. For this reason the field is made from heavy-gauge wire that is large enough to carry the load. Every DC motor is primarily described by the following equations. The Counter EMF is proportional to the machine speed. E = KV (1)

KV is the voltage constant and is the machine speed. In a separately excited DC machine model, the voltage constant KV is proportional to the field current If: KV = LafIf, (2)

where Laf is the field-armature mutual inductance. The electromechanical torque developed by the DC machine is proportional to the armature current Ia. Temt = KTIa, (3)

Fig 3. RC SNUBBER CIRCUIT

Where KT is the torque constant. The sign convention for Temt and TL is Temt , TL > 0 : Motor mode Temt , TL < 0 : Generator mode. The torque constant is equal to the voltage constant. K V = K T. (4)

The mechanical part computes the speed of the DC machine from the net torque applied to the rotor. The speed is used to implement the CEMF voltage E of the armature circuit. The mechanical part is represented by Simulink blocks that implement the equation = Temt - Bmw-TL- Tf (5)

A simple snubber uses a small resistor (R) in series with a small capacitor(C). This combination can be used to suppress the rapid rise in voltage across a thyristor, preventing the erroneous turn-on of the thyristor; it does this by limiting the rate of rise in voltage (dV/dt) across the thyristor to a value which will not trigger it. Snubbers are also often used to prevent arcing across the contacts of relays and switches and the electrical interference and welding/sticking of the contacts that can occur. An appropriately-designed RC snubber can be used with either DC or AC loads. This sort of snubber is commonly used with inductive loads such as electric motors. The voltage across a capacitor cannot change instantaneously, so a decreasing transient current will flow through it for a small fraction of a second, allowing the voltage across the switch to increase more slowly when the switch is opened. While the values can be optimised for the application, a 100

ohm non-inductive resistor in series with a 100 nanofarad, or larger, capacitor of appropriate voltage rating is usually effective. Determination of voltage rating can be difficult owing to the nature of transient waveforms; the actual rating can be determined only by measuring temperature rise of the capacitor. This type of snubber is often manufactured as a single component.

VI.

CIRCUIT DESCRIPTION

A DC motor is fed by a DC source through a chopper which consists of IGBT(Insulated Gate Bipolar Transistor) and a free-wheeling diode. The motor drives a mechanical load characterized by inertia J, friction coefficient B, and load torque TL. The motor uses the discrete DC machine provided in the Machines library[2].The hysteresis current regulator compares the sensed current with the reference and generates the trigger signal for the transistor to force the motor current to follow the reference. The speed control loop uses a proportional-integral controller which produces the reference for the current loop. The Rate Transition block is used to transfer data to the input of a block from the output of a block, both operating at different rates[2]. Use the block parameters to trade data integrity and deterministic transfer for faster response or lower memory requirements.

Fig 4. dc series motor fed by buck converter Fig 7.voltage vs time

Fig 5. speed vs time

Fig 8. Pulses of IGBT vs time

Fig 6.Field current vs time

Fig 9.Reference current vs time

Fig 10.Field current vs time

Fig 11. Electromechanical torque vs time

VII.

OBSERVATION TABLES:

A. SPEED Vs TIME B. ARMATURE CURRENT(Ia) Vs TIME() A> w(rad/s) 2 0 0 2 3 12 17.5 20.5 22 Ia(A) 0 8 7 17 19 18 17.9 17 17 t(s) 0.0 0.1 0.2 0.3 0.4 0.8 1.2 1.6 2.0 t(s) 0.0 0.098 0.1 0.2 0.4 0.8 1.2 1.6 2.0

Here mechanical torque input and reference speed are applied in step form from 0 to 40 Nm and 2 to 40 radians/second, the motor used has rating: 250HP,500V,1750R.P.M,field voltage 300V.As evident from table along with time as load on motor increases the characteristic speed of dc series motor rises after a drop and finally becomes constant(fig 2), so does the armature current(fig 3). Here a discrete PI controller is used for speed regulator. As evident from field current vs time and electromechanical torque vs time graphs both after linearly rising to 18.5A settle down at 16.2A and 92.5Nm to 70Nm respectively. So even if load goes on increasing the speed of dc motor gets settled down . VIII. ABBREVIATIONS AND ACRONYMS discontinuous conduction mode(DCM). continuous conduction mode(CCM) CEMF-Counter Electromotive force E-emf Ke-voltage constant w-machine speed, Laf - the field-armature mutual inductance, If-field current, Ia-armature current, Kt-torque constant, Temt-electromechanical torque, Tl-load torque, J = inertia, Bm = viscous friction coefficient, and Tf = Coulomb friction torque, t(s)-time in seconds

B>

IX.

CONCLUTION
[1] [2] [3]

REFERENCES
SIMULINK, Model-based and system-based design, using Simulink, MathWorks Inc., Natick, MA, 2000. SimPowerSystems for use with Simulink, users guide,MathWorks Inc., Natick, MA, 2002. F. Antritter, P. Maurer, and J. Reger, Flatness based control of abuckconverter driven dc motor, Proc. 4th IFAC Symposium onMechatronic Systems, vol. 4, Part 1, 2006. Boldea and S.A. Nasar, Electric Drives. Boca Raton, FL: CRC PressLLC, 1999. J. Linares-Flores and H. Sira-Ramirez, A smooth starter for a dcmachine: a flatness based approach, Proceedings of 1st InternationalConference on Electrical and Electronics Engineering and X Conferenceon Electrical Engineering, 2004, pp. 589594. J. Linares-Flores and H. Sira-Ramirez., Dc motor velocity controlthrough a dc-to-dc power converter, Proceedings of 43rd Conference B. Eskandari, H. Valizadeh Haghi, M. Tavakoli Bina and M.A. Golkar An Experimental Prototype of Buck Converter FedSeries DC Motor Implementing Speed and Current Controls International Conference on Computer Applications and Industrial Electronics (ICCAIE 2010), December5-7,2010,KualaLumpur,Malaysia. R. W. Erickson, Fundamentals of Power Electronics, NewYork:Chapman and Hall, May 1997. L. Guo, Implementation of digital PID controllers for dcdc convertersusing digital signal processors, Proceedings of IEEE EIT, 2007, pp.306-311.

The MATLAB/SIMULINK software can be not only used to simulate and make programs related to powersystems,communications,controlsystems,drives but can be used to improve their performances which can then be applied in terms of industrial terms circuits related are used to generate electrical power in power plants and provide mechanical work in industries. Today its used to train up students and even academic professionals in order to understand powersystem behaviour in steady state conditions, ability to simulate transient in power system, transient stability improvement including power electronics, control systems. The future scope of this paper lies in its hardware implementation as well as its modification scope lies in software part like with the help of PID controller technique, Fuzzy logic, Fuzzy GA logic.

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X.

ACKNOWLODGEMENT
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It is with our deepest gratitude and appreciation which we offer to our respected Professsor Sushanta Dutta of Dr.B.C.Roy Engineering College whos advice on the making of this paper has been of great help.