Using Matlab/ Simulink Model
of Speed Control Method
Smita Dinker1, Sumit Sharma2, Priyanka Pandey3
1,2,3
Electrical Engineering department Electrical & Electronics
Email: [email protected]
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ZLWKSUHYLRXVO\GHYHORSHG6LPXOLQNPRGHOVof induction motors.
MATLAB with its toolboxes such as Simulink and SimPower Systems is one of the most
popular software packages used by educators to enhance teaching the transient and steady-
state characteristics of electric machines. Simulink models have been successfully integrated
into an electric machinery course as a part of the software laboratory.
Keywords: DC motors; education; software laboratory; MATLAB/Simulink
I. INTRODUCTION
Computer modeling and simulation tools have been extensively used to support and enhance
electric machinery courses. MATLAB with its toolboxes such as Simulink [1] and SimPower
Systems [2] is one of the most popular software packages used by educators to enhance
teaching the transient and steady-state characteristics of electric machines [3-7]. In an effort
to restructure and modernize electric machinery courses .authors have developed Simulink
models for induction motor experiments and successfully integrated them into an
undergraduate electric machinery course. A software laboratory has been designed to
incorporate the simulation models into the laboratory section of the course. In order to have a
complete set of simulation tools for electric machinery experiments, the previously designed
software laboratory should be extended to include speed control experiments of DC motors.
The objective of this paper is to present simulation models of DC motor speed control
methods. These models include Simulink models of three most common speed control
methods, namely field resistance, armature voltage, and armature resistance control methods,
and feedback control system for DC motor drives.
The proposed simulation models are combined with previously developed Simulink modHOV
of induction motors.
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2. MATLAB/SIMULINK MODELS OF SPEED CONTROL METHODS
The speed of a DC motor can be varied by controlling the field flux, the armature resistance
or the terminal voltage applied to the armature circuit. The three most common speed control
methods are field resistance control, armature voltage control, and armature resistance control
[10]. In this section, Simulink models of these three methods and feedback control method
[10] for DC motor drives for dynamic analysis are presented.
In the field resistance control method, a series resistance is inserted in the shunt-field circuit
of the motor in order to change the flux by controlling the field current. It is theoretically
expected that an increase in the field resistance will result in an increase in the no-load speed
of the motor and in the slope of the torque-speed curve [10]. Figure 1 shows the Simulink
implementation of the field resistance control method. A DC motor block of SimPower
Systems toolbox is used. The DC motor block implements a separately excited DC motor. An
access is provided to the field connections (F+,F-) so that the motor model can be used as a
shunt-connected.
The field circuit is represented by an RL circuit (Rf and Lf in series) and is connected
between the ports (F+, F-).
The armature circuit consists of an inductor La and resistor Ra in series with an electromotive
force EA and is connected between the ports (A+,A)-.
The load torque is specified by the input port TL. The electrical and mechanical parameters of
the motor could be specified using its dialog box. Observe that 240V DC source is applied to
the armature and field circuits. An external resistance Rf1 is inserted in series with the field
circuit to realize the field resistance speed control. The output port (port m) allows for the
Measurement of several variables, such as rotor speed, armature and field currents, and
electromechanical Torque developed by the motor. Through the scope and display block, the
waveform and steady-state value of the rotor speed can be easily measured in radian per
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data box to make use of other graphical tools available in MATLAB.
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Figure 1 Simulink implementation of field resistance speed control method.
In the armature voltage control method, the voltage applied to the armature circuit, Va is
varied without changing the voltage applied to the field circuit of the motor. Therefore, the
motor must be separately excited to use armature voltage control. When the armature voltage
is increased, the no-load speed of the motor increases while the slope of the torque-speed
curve remains unchanged since the flux is kept constant [10]. Figure 2 shows the Simulink
realization of the armature voltage speed control method.
This simulation model is similar to that of the Field resistance control method shown in
Figure1. The main difference is that the armature and field circuit are supplied from two
different DC sources to have a separately excited connection. Moreover, the external
resistance Rf1 in Figure 1 is removed in this model.
The armature resistance control is the less commonly used method for speed control in which
an external resistance is inserted in series with the armature circuit. An increase in the
armature resistance results in a significant increase in the slope of the torque-speed
characteristic of the motor while the no-load speed remains constant [10]. Simulink model of
this method is not shown here since it is almost the same as that of the field resistance control
method shown in Figure 1. The only difference is that Rf1 resistance in Figure 1 is removed
and an external resistance Ra1 is inserted in series with the armature circuit between the ports
(A+,A-) to vary the armature resistance.
The block diagram of feedback speed control system for DC motor drives is shown in Figure
3a. The control objective is to make the motor speed follow the reference input speed change
by designing an appropriate controller. The proportional-integral (PI controller) is used to
reduce or eliminate the steady state error between the measured motor speed (Z) and the
reference speed (Zref) to be tracked. The transfer function of PI controller is given by [10]
Where Kp and KI are the proportional and integral gains. In the feedback control system, the
dynamics of the DC motor can be described either by a transfer function or by the following
state-space equations:
where x1=ia, x2=nm are the armature current and motor speed in rad/s, respectively; u is the
voltage input applied to armature circuit, TL is the load torque, J is the combined moment of
inertia of the load and the rotor; B is the equivalent viscous friction constant of the load and
the motor, and K is the design constant depending on the construction of the motor. Figure 3b
shows the Simulink model of feedback control system. The Simulink representation of the
DC motor drive system can give students a clear vision of the block diagram representation
of an electric machine control system, the transfer functions of the controller, and dynamic
models of DC motors. Students can easily evaluate the performance of a chosen controller to
check if the desired control goal for the motor speed is achieved.
ϴϬ
Figure 2 Simulink implementation of armature voltage speed control method.
UHVLVWDQFH LV LQFUHDVHG WKH VORSH RI WKH PRWRU¶V WRUTue-speed characteristic, increases
drastically, making it operate more slowly if loaded. Figure 7 illustrates the response of the
motor speed to a step increase in the reference speed for different values of the proportional
gain (Kp) while the integral gain is kept constant at KI=1.
Figure 3 Feedback control system for DC motor speed control:
(a) block diagram; (b) Simulink model.
3 SIMULATION RESULTS
This section presents simulation results for the speed control methods and DC motor
feedback control system. The torque-speed curves for the speed control methods are
determined using the Simulink models presented in the previous section. For this purpose, a
5- Horse Power (HP) DC motor of 240 V rating 1,220 r/min is used in the simulation models.
The equivalent circuit parameters of the motor are:
Rf /f =120H, Ra
For the field resistance control, first, the nominal Value of the field resistance R f LV
selected and simulations are run for several values of load torque in the range of T L=0- 500
N.m to determine the steady-state value of the speed at each load level. In order to investigate
the effect of an increase in the field resistance on the torque-speed characteristic, Rf1
ϴϭ
external resistance is then inserted in series with the field circuit as illustrated in Figure 1 and
simulations are repeated for the same load levels. The torque-speed curves for both resistance
values are shown in Figure 4. This figure clearly shows an increase in the slope of the curve
as well as in the no-load speed of the motor with respect to an increase in the field resistance.
It must also be noted that over the range from no-load to full-load conditions) TL=0-300
N.m), an increase in Rf causes an increase in the motor speed. On the other hand, at very slow
speed (TL>300 N.m), an increase in Rf will decrease the speed of the motor [10]. For the
armature voltage control, simulations are performed using the model shown in Figure 2 for
three different armature voltages, Va=180 , 240 and 300V while the voltage applied to the
field circuit is kept constant at its nominal value 240 V. Figure 5 compares the torque-speed
characteristics. Figure 5 clearly illustrates that the torque-speed curve is shifted upward by
increasing the armature voltage while the slope of the curve remains unchanged, as it is
theoretically expected. Finally, simulations are performed for three different values of the
armature resistance Ra DQG LQ RUGHU WR LQYHVWLJDWH WKH HIIHFW RI DUPDWXUH
resistance on the shape of the torque-speed curve. Simulation results are shown in Figure 6.
Observe that when the armature
Figure 4 Torque-speed characteristics for two different field resistances
ϴϮ
.
Figure 5 Torque-speed characteristics for three different armature voltages.
ϴϯ
Figure 6 Torque-speed characteristics for three different armature resistances.
ϴϰ
Figure 7 Motor speed for different PI gain values.
Parameters of The state-space equation model of the DC motor given in Equation (2) can be
found in Reference [10]. With the help of simulation results, students can more effectively
examine the controller performance and investigate quantitative effects of the PI controller
gains (Kp and KI) on the transient and steady-state behavior of the motor speed. Moreover,
simulation results give students better opportunities to verify the theories learned from the
lecture. For example, they can clearly see that the integral control eliminates the steady-state
error while increase in the proportional gain adversely affects the transient behavior of the
motor speed such as increasing the maximum overshoot and settling time.
4 THE EDUCATIONAL USE OF THE MODELS
This section describes how the proposed Simulink models were used in a senior level
machinery course (Electric Machinery II) in the Department of Control Engineering, at the
faculty of electronic technology beni-walid Libya.
This course is a control-oriented course that offers bothsteady-state and dynamic
operation principles and mathematical models of DC machines. For the steady-state analysis,
the topics covered by the course are the structure of DC machines, per-phase equivalent
circuit model, torque-speed characteristic, and speed control methods by varying the
field flux, the armature resistance and the armature applied voltage [10]. In the dynamic
analysis, the course covers the fundamentals of linear control theory, dynamic models of DC
ϴϱ
machines such as transfer function or state-space equation models, feedback control design,
and its application into DC motor drives for speed control.
After the steady-state equivalent circuit model, Operation principles, torque-speed
characteristics, and speed control methods are covered in the class, the instructor uses
Simulink models of the field resistance control(Fig.1), armature voltage control(Fig.2), and
armature resistance control to demonstrate the effects of equivalent circuit parameters on the
motor speed under a wide range of loading conditions. After the demonstration, students are
asked to obtain the torque- speed characteristics for each control method and compare them
with the theoretical results learned from the lecture. Students through this exercise should
have a basic understanding of the steady-operation of DC motors and various speed control
techniques.
Moreover, after having enough experiences with the simulation models, the following
exercises are assigned to students:
* Obtain the plot of motor speed in rpm versus the
field resistance (Rf) at a given load level, say TL=100 N.m and using MATLAB curve fitting
tool, find an equation that describes motor speed as a function of Rf.
*Obtain the plot of motor speed in rpm versus the Armature resistance (Ra) at a given load
level, say TL=100
and using MATLAB curve fitting tool, find an equation that describes motor speed as a
function of Ra.
*Obtain the plot of motor speed in rpm versus the armature voltage (Va) at a given load
level, say TL=100 N.m and using MATLAB curve fitting tool, find an equation that
describes motor speed as a function of Va.
An example of simulations obtained by students for given assignments is presented in Figure
8 that shows motor speed
(rpm) as a function of the field resistance Rf. Note that a linear curve that fits the simulation
data is found and simulation data are compared with those obtained from the linear equation.
Note that errors (residual) shown in the lower part of Figure 8 are negligible indicating that
motor speed can be described as a linear function of Rf ( i.e.,nm=3.46 .Rf+246).
The simulation result clearly shows students that an increasein field resistance increases the
motor speed. Moreover, with the help of these simulation results and curve fitting students
will be able to determine motor speed easily for a wide range of equivalent circuit
parameters. For the dynamic analysis, Simulink model of feedback control system for DC
motor drives (Fig.3b) is used to illustrate the feedback control concept as applied to DC
motor drives and to demonstrate them. The design of a controller to achieve the desired
control goal on torque and speed of the DC motor. Similarly, students are asked to run
simulations for various values of PI control gains to evaluate the performance of different
controllers and to investigate the speed dynamics of closed-loop DC motor control system. A
typical result obtained by students is shown in Figure 9. This figure depicts the response of
ϴϲ
the motor speed to a step increase in the reference speed for different values of the integral
gain KI while the proportional gain is kept constant at KP=0.1.
Such simulation exercises help students develop concepts and skills in feedback control
design and their applications into DC motor drive system.
The use of the proposed simulation models was assessed both formally with student
evaluations and informally from discussions with students. Since the models were introduced
to all students within a course. The student response to the use of the models has been very
positive. The majority of students indicate that having a tool that is easy to use allows them to
comprehend torque-speed characteristics and speed control methods. Students increase their
understanding of steady state and dynamic behavior of DC motors beyond the understanding
they gain from classroom lectures and textbooks. They especially appreciate the integrative
teaching approach that combines traditional steady state Analysis of DC motors with dynamic
approaches (feedback control) that are supported by simulation models. Students suggest that
MATLAB and Simulink/ SimPower Systems should be integrated into other power system
and control courses as well. Moreover, with the extensive use of simulation models, students
have become familiar with the widely used numerical simulation environment of MATLAB,
which they will be able to use subsequently for their senior design projects or research.
ϴϳ
Figure 9 Motor speed for different PI gain values.
ϴϴ
5. CONCLUSIONS
Simulation models of DC motor speed control methods and feedback control system for
DC motor drives have been developed using MATLAB/Simulink. It has been shown that
proposed simulation models correctly predict the effect of field resistance, armature voltage,
and resistance on the torque-speed characteristic of the DC motor. Furthermore, Simulink
models have been successfully integrated into an electric machinery course as a part of the
software laboratory.
The teaching of both the steady-state and dynamic analysis of DC motors has been
enhanced using the simulation models. Simulated examples help students increase their
understanding of DC motor operation, fundamentals of dynamic system controls and its
application into DC motor speed control, providing them a complete view of a controllable
DC machine and drive systems. Future work will involve further development of simulation
models to include power electronic
Converter as DC voltage source.
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