Guru Ghasidas Vishwavidyalaya (A Central

University) Bilaspur (C.G.)

School of Studies in Engineering & Technology,
Department of Electronics and Communication Engineering

 Branch:- Electronics and communication Engineering

 Semester:- 6 th

 Sub:-mini project
 Members:-Deepanshu patel
Aman nigam
Disha shukla
Ashik babu
 Table of contents
Abstract
Chap 1: Introduction
Chap 2: literature review
 PWM technique
 DC motors classification
 Speed control methods of DC motors
 Advantages
 Applications

Chap 3: working methodology

 Components description
 Circuit diagram
 Circuit discription
 Circuit operation
 Code

Chap 4: results and discussion

Chap 5: conclusion
List of figures

References

Abstract
This work presents a simple speed control application for a DC motor in laboratory
use. The speed control of direct current (DC) motor for various applications
is very important. The purpose of this application is to maintain the desired
speed.

on a generator operating on the same axis to the motor. A detailed analysis is provided on
the equipment and the techniques that have been used for the control of the power
electronic device. The scope of this work was to plan and test the controller, in terms of
energy efficiency and economical operation.
 This study presents the critical results of the tests focusing on the best operational point
and discusses the related conclusions. The controller’s operation was efficient in both low
and high speeds that were tested.

Chap 1: Introduction
Today’s industries are increasingly demanding process automation in all sectors. Automation
results into better quality, increased production and reduced costs. The variable speed drives,
which can control the speed of A.C/D.C motors, are indispensable controlling elements in
automation systems. Depending on the applications, some of them are fixed speed and some of
the variable speed drives.

DC motors have many applications in many fields of industrial, commercial and other
activities, such as robotics, automobiles, servomechanisms etc. The electric drive systems used
in many industrial applications require higher performance, reliability, variable speed due to
their ease of controllability. The speed control of a DC motor is crucial in applications where
precision and protection are essential. The purpose of a motor speed controller is to take a
signal representing the required speed and to drive a motor at that speed.

Microcontrollers can provide easy control of a DC motor. A microcontroller-based speed control

system consists of an electronic component and a microcontroller. There are many applications of
DC motor drives that use power electronics to control the voltage and consequently the speed or
position of the motor. For large motors it is highly economical to use power electronics, in order
to minimize the power loss and the size of the motor. In this paper, an Arduino UNO system
(microcontroller) was used for the control signal. The DC motor fed by a Potentiometer that was
driven by the Arduino UNO microcontroller.
 Chap 2:speed control dc motor

Proposed System: - In this project PWM method will be used to control the speed
of DC motor. PWM is a technique by using we can control the voltage or power. Here in this
Arduino Motor Speed Control project, the speed can be controlled by rotating the knob of
potentiometer. Ex- if you are applying 5 volts for driving a motor then motor will be moving
with some speed, now if we reduce applied voltage by 2 means we apply 3 volts to motor
then motor speed also decreases. This

concept is used in the project to control the voltage using PWM.

Implementation: - Implementation is the part of the process where engineers

actually program the code for the project. Here, we are using both hardware and software.
When we rotate the knob of potentiometer it will control voltage and send to Arduino UNO.
In Arduino UNO we had preload the code which written in embedded C by using Arduino
IDE platform for connecting hardware and software. The code which is present in Arduino
UNO will processed and motor will be activated according to the intensity presented on the
potentiometer.
PWM TECHNIQUE:
Pulse-width modulation (PWM) or duty-cycle variation methods are commonly used in speed control of
DC motors. The duty cycle is defined as the percentage of digital ‘high’ to digital ‘low’ plus digital ‘high’
pulse-width during a PWM period.

Principle:-
Pulse width modulation control works by switching the power supplied to the motor on and off very
rapidly. The DC voltage is converted to a square wave signal, alternating between fully on (nearly 12v) and
zero, giving the motor a series of power “kicks”. Pulse width modulation technique (PWM) is a technique
for speed control which can overcome the problem of poor starting performance of a motor. PWM for
motor speed control works in a very similar way. Instead of supplying a varying voltage to a motor, it is
supplied with a fixed voltage value (such as 12v) which starts it spinning immediately. The voltage is then
removed and the motor ‘coasts. By continuing this voltage on/off cycle with a varying duty cycle, the
motor speed can be controlled.

Fig: -pwm pulses with 25%,75%and 50% duty cycle

The wave forms in the above figure to explain the way in which this method of control operates. In each
case the signal has maximum and minimum voltages of 12v and 0v.
 In wave form, the signal has a mark space ratio of 1:1.with the signal at 12v for 50% of the time, the
average voltage is 6v, so the motor runs at half its maximum speed.
 In wave form, the signal has mark space ratio of 3:1.which means that the output is at 12v for 75% of
the time. This clearly gives an average output voltage of 9v, so the motor runs at 3/ 4 of its maximum
speed.
 In wave form, the signal has mark space ratio is 1:3, giving an output signal that is 12v for just 25% of
the time. The average output voltage of this signal is just 3v, so the motor runs at 1/4 of its maximum
speed. By varying the mark space ratio of the signal over the full range, it is possible to obtain any desired
average output voltage from 0v to12v. The motor will work perfectly well, provided that the frequency of
the pulsed signal is set correctly, a suitable frequency being 30Hz.setting the frequency too low gives jerky
operation. And setting it too high might increase the motor’s impedance.
Method of generation of pwm:-
The pwm signals can be generated in a number of ways.
there are several methods:
 analogue method
 digital method
 discrete IC

Analogue method:
The simplest way to generate a PWM signal is the intersective method, which requires only a saw tooth or
a triangle wave form (easily generated using a simple oscillator) and a comparator. When the value of the
reference signal is more than the modulation wave form, the PWM signal is in the high state, otherwise it
is in the low state.

Digital Method:
The digital method involves incrementing a counter, an comparing the counter value with a pre-loaded
register value, or value set by an ADC. They normally use a counter that increments periodically and is
reset at the end very period of the PWM. When the counter value is more than the reference value, the
PWM output will change state from high to low.

PWM generator chips:

There are several IC’s available which converts a DC level into a PWM output. Many of these are designed
for use in switch mo power supplies .unfortunately, the devices designed for switch mode power supplies
not to allow the mark-space ratio to alter over the entire 0 – 100% range. Many limit the maximum to 90%
which is effectively limiting the power you can send to the motors.
INTRODUCTION TO SPEED CONTROL:
Speed control means intentional change of drive speed to a value required for performing the specific work
process. This concept of speed control or adjustment should not be taken to include the natural change in
speed which occurs due to change in the load on the shaft. Any given piece of industrial equipment may
have its speed change or Adjusted mechanically by means of stepped pulleys, sets of change gears,
variable speed friction clutch mechanism and other mechanical devices. Historically it is proved to be the
first step in transition from non adjustable speed to adjustable speed drive. The electrical speed control has
many economical as well as engineering advantages over mechanical speed control The nature of the speed
control requirement for an industrial drive depends upon its type. Some drives may require continues
variation of speed for the whole of the range from zero to full speed or over a portion of this range while
the others may require two or more fixed speed.
CLASSIFICATION OF DC MOTORS:
DC motors are classified into three types depending upon the way their field windings are excited.
DC Series Motors
A DC series motor will have its field windings connected in series with the armature. The series
winding will have relatively few turns of larger wire or copper strip which are capable of carrying
the full load current of the motor. On starting, because the windings are low resistance, a large
current can be drawn producing a high starting torque.
This is an advantage for high starting loads such as traction, crane and other heavy applications.
The speed of a series motor is dependent on the load, so when the full load current flowing
through the circuit has reduced, the speed will have increased.
In some instances, the motors speed could potentially increase to a level above the recommended
maximum. For this reason, a series motor should not be connected to its load with a belt.

DC Shunt Motors

In a DC Shunt motor the field winding is connected in parallel (shunt) with the armature. The
shunt winding is wound from many turns of small copper wire and since it is connected across the
DC field supply, its field current will be constant.
The motor will run up to rated speed and this will not be greatly affected by a change in load. The
starting torque will be less than a similar sized series motor but if this is not required then a
constant speed shunt motor may be preferable for the application.
DC shunt motors can be used for many applications such as plastics or wire extrusion. We carry a
stock of small DC shunt wound motors in IP23 IC06 format (drip proof force ventilated).

DC Compound Motors

With a DC compound motor, the majority of the field is wound for a shunt field but with a few
turns of series winding on top. The shunt is connected across the field supply and the series turns
are connected in series with the armature. This provides a motor with a combination of the shunt
and series characteristics.
The starting torque will be higher than a shunt motor but not as high as a series motor. The speed
will change with load and the amount will depend on the % of field space allocated to the series
winding. The series field can be arranged to either increase or decrease the speed with load.
Applications for these motors vary but are often for larger applications such as unwind brake
generators, conveyors, mixers etc.
A form of DC compound motor can also be used where the supply is from batteries with a wide
range of volts. In this instance both the field and armature have the same voltage applied and by
using the compound winding this helps to keep the speed within an acceptable range.

SPEED CONTROL OF DC MOTORS:

The DC motors are in general much more adaptable speed drives than AC motors which are
associated with a constant speed rotating field. Indeed one of the primary reasons for the strong
competitive position of DC motors in modern industrial drives is the wide range of specified
afforded.

we know the equation

N= K ( ϕ) =K (V-Ia Ra / ϕ)
 Where

V=supply voltage (volts)

Ia = armature current (amps)
Ra=armature resistance (ohms)
Φ=flux per pole (Weber)
Eb=back emfs (volts)
This equation gives two methods of effective speed changes:-
a) The variation of field excitation, if this causes in the flux per pole Φ and is known as the field
control.
b) The variation of terminal voltage (V).this method is known as armature control.

MOTOR APPLICATIONS:

DC motor possesses excellent torque speed characteristics and offer a wide range of
speed control. Though efforts are being made to obtain wide range speed control
with ac motors, yet the versatility and flexibility of a dc motors can’t be matched by
a ac motors. In view of this, the demand for dc motors would continue
undiminished even in figure. A brief discussion regarding the dc motor applications
is given below.

SHUNT MOTORS:

 It is the type generally used in commercial practice and is usually recommended

where starting conditions are not usually severs. Speed of the shunt motors may be
regulated in two ways: first, by inserting resistance in series with the armature, thus
decreasing speed: and second, by inserting resistance in the field circuit, the speed
will vary with each change in load: in the latter, the speed is practically constant for
any setting of the controller. This latter is the most generally used for between
synchronous motors and dc shunt motors. It is because the construction of high
performance poly phase induction motor with large number of poles is difficult.
However, for adjustable speed service at low operating speed, dc shunt motor is a
preferred choice.

SERIES MOTORS:

The main feature of series motor is the automatic decrease in speed as soon as
increased load torque is required. The decreasing speed with increase in load torque
or vice versa has only a marginal effect on the power taken by the series motor.
 Since a series motor can withstand severe starting duties and can furnish high
starting torques , it is best suited for driving hoists, trains , excavators ,cranes, etc.
wound motor induction motors compete favorably with series motor’s ,but the
choice is governed by the economics . However for traction purposes , series motor
is the only choice. Therefore series motors are widely used in all types of electric
vehicles, eletrictrains, streetcars, battery powered tools, automotive starter motors
etc.
 Speed regulation in the series motor is quite poor. With the increase in the load
speed of the machine decreases. (DC shunt motor maintains almost constant speed
from no load to full load)..
COMPOUND MOTORS :

A compound motor with a strong series field has its characteristics approaching that
of a series motor. Therefore such type of compound motors are used for loads
requiring heavy starting torque which are likely to be reduced to zero A compound
motor with weak series field has its characteristics approaching that of a shunt
motor. Weak series field causes more drooping speed torque characteristics than
with an ordinary shunt motors. Such compound motors with steeper characteristics,
are used where load fluctuates between wide limits intermittently.

Speed Control Methods of DC Motor

Speed Control of Shunt Motor
1. Flux Control Method

It is already explained above that the speed of a dc motor is inversely proportional

to the flux per pole. Thus by decreasing the flux, speed can be increased and vice
versa.

To control the flux, a rheostat is added in series with the field winding, as shown in
the circuit diagram. Adding more resistance in series with the field winding will
increase the speed as it decreases the flux. In shunt motors, as field current is
relatively very small, Ish2R loss is small. Therefore, this method is quite efficient.
Though speed can be increased above the rated value by reducing flux with this
method, it puts a limit to maximum speed as weakening of field flux beyond a limit
will adversely affect the commutation.
2. Armature Control Method

Speed of a dc motor is directly proportional to the back emf E b and Eb = V - IaRa.

That means, when supply voltage V and the armature resistance R a are kept
constant, then the speed is directly proportional to armature current I a. Thus, if we
add resistance in series with the armature, I a decreases and, hence, the speed also
decreases. Greater the resistance in series with the armature, greater the decrease
in speed.

3. Voltage Control Method

a) Multiple voltage control:
In this method, the shunt field is connected to a fixed exciting voltage and armature
is supplied with different voltages. Voltage across armature is changed with the help
of suitable switchgear. The speed is approximately proportional to the voltage
across the armature.

b) Ward-Leonard System:

This system is used where very sensitive speed control of motor is required (e.g
electric excavators, elevators etc.). The arrangement of this system is as shown in
the figure at right.
M2 is the motor to which speed control is required.
M1 may be any AC motor or DC motor with constant speed.
G is a generator directly coupled to M1.
In this method, the output from generator G is fed to the armature of the motor M 2
whose speed is to be controlled. The output voltage of generator G can be varied
from zero to its maximum value by means of its field regulator and, hence, the
armature voltage of the motor M2 is varied very smoothly. Hence, very smooth
speed control of the dc motor can be obtained by this method.
Components description:-
Arduino/Genuino: - Uno is a microcontroller board based on the ATmega328P (datasheet).
It has 14 digital input/output pins (of which 6 can be used as PWM outputs), 6 analog inputs, a 16
MHz quartz crystal, a USB connection, a power jack, an ICSP header and a reset button. It
contains everything needed to support the microcontroller; simply connect it to a computer with a
USB cable or power it with a AC-to-DC adapter or battery to get started.
NPN Transistors: - NPN transistors are a type of bipolar transistor with three layers
that are used for signal amplification. It is a device that is controlled by the current. A
negative- positive-negative transistor is denoted by the abbreviation NPN.2

Potentiometer: - A potentiometer is a three-terminal resistor with a sliding or

rotating contact that forms an adjustable voltage divider. If only two terminals are used, one
end and the wiper, it acts as a variable resistor or rheostat. The measuring instrument called a
potentiometer is essentially a voltage divider used for
measuring electric potential (voltage); the component is an implementation of the same
principle, hence its name.

DC Motor: - A DC motor is any of a class of rotary electrical motors that converts

direct current electrical energy into mechanical energy. The most common types rely on the
forces produced by magnetic fields. Nearly all types of DC motors have some internal
mechanism, either electromechanical or electronic, to periodically change the direction of
current in part of the motor. 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.

Resistor: - A resistor is a passive two-terminal electrical component that implements

electrical resistance as a circuit element. In electronic circuits, resistors are used to reduce
current flow, adjust signal levels, to divide voltages, bias active elements, and terminate
transmission lines, among other uses.

Diode: - diode, an electrical component that allows the flow of current in only one
direction. In circuit diagrams, a diode is represented by a triangle with a line across one
vertex.
Circuit diagram:-

Circuit description:
As shown in figure, the circuit is built using arduino UNO development board, 16x4 LCD, NPN
Darlington transistor TIP122 and opto interrupt sensor MOC7811.
· The analog output pin 9 of arduino drives 12V@2000 RPM DC motor through TIP122. This pin
is given to base input of TIP122 through current limiting resistor R2 and DC motor is connected
to collector of TIP122
· The internal IR LED of MOC7811 is given forward bias using 5V supply form arduino board
through current limiting resistor R1. Internal photo transistor is pulled up by resistor R4. The
collector output of transistor is connected to digital pin 7 or arduino
· LCD data pins D4 to D7 are connected to digital pins 5, 4, 3 and 2 of arduino while control pins
Rs and En are connected to 12 and 11. RW pin is connected to ground. Vcc pin and LED+ pin are
connected to 5V supply from arduino board and Vss pin and LED- pins are connected to arduino
board ground
· One pot is connected to Vee pin to vary contras of LCD.

Circuit operation:

Code: -
#include <LiquidCrystal.h>
int count = 0;
int interruptPin = 2;
float speedRPM = 0;
LiquidCrystal lcd(7, 8, 9, 10, 11, 12);

void encoderPulse()
{
count++;
}
void setup() {
lcd.begin(16, 2);
lcd.print("Speed of DC Motor:");
lcd.setCursor(13, 1);
lcd.print("RPM");
pinMode(interruptPin, INPUT_PULLUP);
 attachInterrupt(digitalPinToInterrupt(interruptPin), encoderPulse, RISING);
}
void loop() {

lcd.setCursor(0, 1);
count = 0;
delay(200);

speedRPM = count * 6.25;

lcd.print(speedRPM);
}

ADVANTAGES: -
 In this method absence of rheostatic control hence power loss is negligible.
 By using this method, we can control many motors via central Arduino.
 In this method we can control above as well as below rated speed of motor.
 We can control many motors with different speed.
 They are used in appliances such as electric trains and cranes having
overwhelming burdens in the beginning conditions
 Their maintenance is easy and takes little to no time

Application: - The Speed control motor is applicable in many cases like controlling
the movements of Robotics vehicles, movements of motor in paper mills or any types of mills
where DC Motor are using, and the movements of Elevators where different type of DC
Motor are used. Speed control of DC motor is one of most important features of motor.

Result: - DC Speed controlled motor implemented Successfully.

By varying the ohmic pot we have done the speed control DC shunt motor by means of PWM
method for triggering the base of controlled device called IGBT. We found out that this is very
cheap and efficient speed control method where all components give reliable operation and we
have checked it experimentally where the efficiency of rheostatic method is better than the
PWM control method.
Conclusion: -

The Circuit was Designed and implemented.

Adopted in this paper is low-cost technique of controlling the speed of the DC motor. Arduino
Uno board plays the role of Data Acquisition System. A motor driver IC is interfaced to the
Arduino board for receiving PWM signals and delivering desired output for speed control of a
small DC motor. Shaft of the DC motor will move and number of times it moves will give us
the speed at which the motor is moving.
The dc motor speed is controlled by using power electronic device and the PWM is used
which to control the speed of dc motor. The speed pulse train will be based on required input
speed. This circuit is useful to operate the dc motors at required speed with very low losses
and low cost. The circuit response time is fast. Hence high reliability can be achieved. The
designed circuit was tested for various speed inputs satisfactorily. The method already
employed in traction system and has a good scope ahead.
List of figures
REFERENCES:--

1.Gopal K Dubey “Fundamentals of Electric Drives” Narosa Publishing House New Delhi, 1989.

2.Muhammad H. Rashid, ‘‘Power Electronics Circuits, Devices, and Applications,” Prentice Hall,
3rd edition, 2003.

3. Kumara MKSC, Dayananda PRD, Gunatillaka MDPR, Jayawickrama SS, “PC based speed
controlling of a dc motor”, A fmal year report University of Moratuwa Illiniaus USA, 2001102.

4. J Nicolai and T Castagnet , “A Flexible Micro controller Based Chopper Driving a Permanent
Magnet DC Motor”, The European Power Electronics Application. 1993

5. A Khoei Kh. Hadidi, “MicroProcessor Based Closed- Loop Speed Control System for DC
Motor Using Power MOSFET”, 3rd IEEE international conference on Electronics, Circuits and
Systems( 1996) vol.2, pp.1247-1250.