TABLE OF CONTENT

S.NO CHAPTER PAGE NO.

I INTRODUCTION 4
1.1 CONVENTIONAL METHODS OF 4
SPEED CONTROL

1.2 ADOPTED TECHNIQUE 4

1.3 BLOCK DIAGRAM 5

2 DC MOTOR 5

2.1 WORKING PRINCIPLE OF 5

DC MOTOR
2.2 OPERATION OF A DC 6
MOTOR
2.3 SPEED CONTROL METHODS 6
OF

3 L293D IC 7

3.1 WORKING PRINCIPLE OF 7

L293D IC
3.2 PINOUT CONFIGURATIONS 7

3.3 WORKING OF L293D IC 8

3.4 L293D IC LOGIC TABLE 8

3.5 CIRCUIT DIAGRAM FOR 8

1
 L239D IC
3.6 VOLTAGE SPECIFICATIONS 9

4 ARDUINO UNO 9

4.1 INTRODUCTION TO 9
ARDUINO

4.2 TECHNICAL 10

SPECIFIATIONS
4.3 PINS 10
5 WORKING 11

5.1 L293D FUNCTION TABLE 12

5.2 SOURCE CODE FOR 13
ARDUINO
6 CONCLUSION 14

2
 ABSTRACT

Due to efficient control methods, DC motors are widely used motors to drive
the loads in industry. Among the different control techniques for the DC motor
speed control,Here we are using L293D IC. L293D is a typical motor driver IC
which allows DC motor to drive on either directions. L239D is a 16-pin IC
which control a set of two DC motors simultaneously in any directions. it means
that you can control two DC motor with a single L293D IC. Dual H-bridge
motor driver integrated circuit(IC).It works on the concept of H-bridge is a
circuit which allows the voltage to be flown either directions. As you know
voltage need to change its directions for being able to rotate the motor in
clockwise directions or anticlockwise,Hence H-bridge IC are ideal for driving a
DC motor. Here in single L293D chip there are two H-bridge circuit inside the
IC which can rotate two dc motor independently

3
 CHAPTER-I
INTRODUCTION
1.1 CONVENTIONAL METHODS OF SPEED CONTROL

The DC motors used in industrial applications have progressively

gotten better over the years. Along with this, the way we control these motors
has continued to improve. From the old rheostat which gave the way to solid
state electronics and then the DCC and there after the PID controller.

A PID is a generic control loop feedback mechanism used to control

the speed of the motor. It calculates the difference between a measured process
variable and desired set point. It tries to minimize the error by adjusting the
control inputs. As PID controllers require exact mathematical modeling, the
performance is questionable if there is any parameter variation. It does not
guarantee optimal control of the system. It is a time consuming process as we
cannot get the required speed till the error produced equals to zero.

1.2 ADOPTED TECHNIQUE

It works on the concept of H-bridge. H-bridge is a circuit which

allows the voltage to be flown in either direction. As you know voltage need to
change its direction for being able to rotate the motor in clockwise or
anticlockwise direction, Hence H-bridge IC are ideal for driving a DC motor.In
a single L293D chip there are two h-Bridge circuit inside the IC which can
rotate two dc motor independently. Due its size it is very much used in robotic
application for controlling DC motors. Given below is the pin diagram of a
L293D motor controller.There are two Enable pins on l293d. Pin 1 and pin 9,
for being able to drive the motor, the pin 1 and 9 need to be high. For 7

driving the motor with left H-bridge you need to enable pin 1 to high. And for
right H-Bridge you need to make the pin 9 to high. If anyone of the either pin1
or pin9 goes low then the motor in the corresponding section will suspend
working. It’s like a switch.

4
1.3 BLOCK DIAGRAM

Figure 1: BLOCK DIAGRAM

5
 CHAPTER-II
DC MOTOR
2.1 WORKING PRINCIPLE OF A DC MOTOR

A DC motor is an electric motor that runs on DC electricity. It works

on the principle of electromagnetism. A current carrying conductor when placed
in an external magnetic field will experience a force proportional to the current
in the conductor.

Figure 2.1: DC motor

2.2 OPERATION OF A DC MOTOR

There are two magnetic fields produced in the motor. One

magnetic field is produced by the permanent magnets and the other magnetic
field is produced by the electrical current flowing in the motor windings. These
two fields result in a torque which tends to rotate the rotor. As the rotor turns,
the current in the windings is commutated to produce a continuous

Torque output this makes the motor to run.

6
 Figure 2.2: DC motor

2.3 SPEED CONTROL METHODS OF DC MOTOR

They are various methods used to control the speed of a DC

motor. Some of them are:

1. Armature control method

2. Flux control method

3. Ward Leonard system.

Armature control method: Speed can be controlled by varying the voltage. As

speed is directly proportional to the voltage. As voltage increases speed
increases and vice-versa. A simple voltage regulation would cause lots of power
loss on control circuit. So we are going for PWM. In this method the duty cycle
determines the speed of the DC motor. Required speed can be attained by
changing the duty cycles. PWM also allows smooth speed variation without
reducing the torque. It also eliminates harmonics.

7
 CHAPTER-III
L293D IC
3.1 WORKING PRINCIPLE OF L293D IC
L293D is a typical motor driver IC which allows DC motor to drive on
either directions. L239D is a 16-pin IC which control a set of two DC motors
simultaneously in any directions. it means that you can control two DC motor
with a single L293D IC. Dual H-bridge motor driver integrated circuit(IC).

Figure 3.1:L293D

3.2 PINOUT CONFIGURATIONS

Figure 3.2:PINOUT CONFIGURATIONS

8
3.3 WORKING OF L293D
There are 4 input pins for L293D, pin 2,7 on the left and pin
15,10 on the right as shown on the pin diagram. Left input pins will regulate the
rotation of motor connected across left side and right input for motor on the
right hand side. The motors are rotated on the basis of the inputs provided
across the input pins as LOGIC 0 or LOGIC 1.

In simple you need to provide Logic 0 or 1 across the input pins for rotating the
motor.

3.4 L293D LOGIC TABLE

Lets consider a Motor connected on left side output pins (pin
3,6). For rotating the motor in clockwise direction the input pins has to be
provided with Logic 1 and Logic 0.

Figure 3.3:Logic table

3.5 CIRCUIT DIAGRAM FOR L293D MOTOR DRIVER IC

CONTROLLER

Figure 3.4:circuit diagram

9
3.6 VOLTAGE SPECIFICATIONS
VCC is the voltage that it needs for its own internal
operation 5v; L293D will not use this voltage for driving the motor. For driving
the motors it has a separate provision to provide motor supply VSS (V supply).
L293d will use this to drive the motor. It means if you want to operate a motor
at 9V then you need to provide a Supply of 9V across VSS Motor supply.

The maximum voltage for VSS motor supply is 36V. It can supply a max
current of 600mA per channel.Since it can drive motors Up to 36v hence you
can drive pretty big motors with this l293d.VCC pin 16 is the voltage for its
own internal Operation. The maximum voltage ranges from 5v and upto 36v.

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 CHAPTER IV
ARDUINO UNO
4.1 INTRODUCTION
The Arduino Uno is an open-source microcontroller board based on
the Microchip ATmega328P microcontroller and developed by Arduino.cc The
board is equipped with sets of digital and analog input/output (I/O) pins that
may be interfaced to various expansion boards (shields) and other circuits. The
board has 14 Digital pins, 6 Analog pins, and programmable with the Arduino
IDE (Integrated Development Environment) via a type B USB cable. It can be
powered by the USB cable or by an external 9-volt battery, though it accepts
voltages between 7 and 20 volts. It is also similar to the Arduino Nano and
Leonardo. The hardware reference design is distributed under a Creative
Commons Attribution Share-Alike 2.5 license and is available on the Arduino
website. Layout and production files for some versions of the hardware are also
available.
The word "uno" means "one" in Italian and was chosen to mark the initial
release of the Arduino Software. The Uno board is the first in a series of USB-
based Arduino boards, and it and version 1.0 of the Arduino IDE were the
reference versions of Arduino, now evolved to newer releases. The ATmega328
on the board comes preprogrammed with a bootloader that allows uploading
new code to it without the use of an external hardware programmer.
While the Uno communicates using the original STK500 protocol, it differs
from all preceding boards in that it does not use the FTDI USB-to-serial driver
chip. Instead, it uses the Atmega16U2 (Atmega8U2 up to version R2)
programmed as a USB-to-serial converter.

4.2 TECHNICAL SPECIFICATIONS

 Microcontroller: Microchip ATmega328P

 Operating Voltage: 5 Volts
 Input Voltage: 7 to 20 Volts
 Digital I/O Pins: 14 (of which 6 provide PWM output)
 Analog Input Pins: 6

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 DC Current per I/O Pin: 20 mA
 DC Current for 3.3V Pin: 50 mA
 Flash Memory: 32 KB of which 0.5 KB used by bootloader
 SRAM: 2 KB
 EEPROM: 1 KB
 Clock Speed: 16 MHz
 Length: 68.6 mm
 Width: 53.4 mm
 Weight: 25 g

4.3 PINS

 LED: There is a built-in LED driven by digital pin 13. When the pin is
high value, the LED is on, when the pin is low, it's off.
 VIN: The input voltage to the Arduino/Genuino board when it's using an
external power source (as opposed to 5 volts from the USB connection or
other regulated power source). You can supply voltage through this pin,
or, if supplying voltage via the power jack, access it through this pin.
 5V: This pin outputs a regulated 5V from the regulator on the board. The
board can be supplied with power either from the DC power jack (7 -
20V), the USB connector (5V), or the VIN pin of the board (7-20V).
Supplying voltage via the 5V or 3.3V pins bypasses the regulator, and can
damage the board.
 3V3: A 3.3 volt supply generated by the on-board regulator. Maximum
current draw is 50 mA.
 GND: Ground pins.
 IOREF: This pin on the Arduino/Genuino board provides the voltage
reference with which the microcontroller operates. A properly configured
shield can read the IOREF pin voltage and select the appropriate power
source or enable voltage translators on the outputs to work with the 5V or
3.3V.
 Reset: Typically used to add a reset button to shields which block the one
on the board.

SPECIAL PIN FUNCTIONS

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 Serial / UART: pins 0 (RX) and 1 (TX). Used to receive (RX) and
transmit (TX) TTL serial data. These pins are connected to the
corresponding pins of the ATmega8U2 USB-to-TTL serial chip.
 External interrupts: pins 2 and 3. These pins can be configured to trigger
an interrupt on a low value, a rising or falling edge, or a change in value.
 PWM (pulse-width modulation): 3, 5, 6, 9, 10, and 11. Can provide 8-bit
PWM output with the analogWrite() function.
 SPI (Serial Peripheral Interface): 10 (SS), 11 (MOSI), 12 (MISO), 13
(SCK). These pins support SPI communication using the SPI library.
 TWI (two-wire interface) / I²C: A4 or SDA pin and A5 or SCL pin.
Support TWI communication using the Wire library.
 AREF (analog reference): Reference voltage for the analog inputs

13
 CHAPTER V
WORKING
5.1 L293D FUNCTION TABLE

INPUT OUTPUT
IN1/IN3 IN2/IN4 OUT1/OUT3 OUT2/OUT4
0 0 0 0
1 0 1 0
0 1 0 1
1 1 1 1

The below arduino code just show you how the motor direction changes with
the change in respective input states. As given in the code, for five seconds the
motor runs in the clockwise direction, then in the counterclockwise direction
and then stops; this repeats again.

5.2 SOURCE CODE FOR ARDUINO

const int IN1 = 6, IN2 = 5, IN3 = 11, IN4 = 10;

const int enable12 = 3 , enable34 = 9;
void setup()
{
pinMode(IN1, OUTPUT);
pinMode(IN2, OUTPUT);
pinMode(IN3, OUTPUT);
pinMode(IN4, OUTPUT);
pinMode(enable12, OUTPUT);
pinMode(enable34, OUTPUT);
digitalWrite(enable12, HIGH);
digitalWrite(enable34, HIGH);
}

void loop()
{
clockwise();
delay(5000);

14
 anticlockwise();
delay(5000);
brake();
delay(5000);
}
// Input state to rotate 2 motors CW
void clockwise()
{
digitalWrite(IN1, HIGH);
digitalWrite(IN2, LOW);
digitalWrite(IN3, HIGH);
digitalWrite(IN4, LOW);
}
// Input state to rotate 2 motors CCW
void anticlockwise()
{
digitalWrite(IN1, LOW);
digitalWrite(IN2, HIGH);
digitalWrite(IN3, LOW);
digitalWrite(IN4, HIGH);
}
//Motor Brake
void brake()
{
digitalWrite(IN1, LOW);
digitalWrite(IN2, LOW);
digitalWrite(IN3, LOW);
digitalWrite(IN4, LOW);
}

15
 CHAPTER VI
CONCLUSION
The speed control of DC motor is successfully achieved by using L293D Motor
driver IC based two H- Bridge. for five seconds the motor runs in the clockwise
direction, then in the counterclockwise direction and then stops; this repeats
again. It is practical one and high feasibility according to economic point of
view, reliability and accuracy. It is programmable one. Therefore, it can control
various motors ranging small one to several hp motors.

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17