SPEED CONTROL OF DC MOTOR

2022-23

A Dissertation submitted to
Rajiv Gandhi Proudyogiki Vishwavidyalaya, Bhopal (M.P.)
Towards the Partial Fulfillment of Requirements for Awarding the Degree
of
Bachelor of Engineering (B.E.) in Electrical Engineering

Supervised by: Submitted By:

Mr. Arun Parakh Piyush Mandre
Assistant Professor Piyush Tripathi
Electrical Departement Prince Kesharwani
Riya Jain
Enter name of Co-supervisor Sukhdev Arya
Enter Designation of Co-Supervisor
Enter Department of Co-Supervisor

Department of Electrical Engineering

Shri G.S. Institute of Technology and Science,
Indore-452003 (M.P.) -India
©Shri G.S. Institute of Technology and Science, (SGSITS), Indore, 2023
 Shri G.S. Institute of Technology and Science,
Indore-452003 (M.P.) -India
Department of Electrical Engineering

2022-23
RECOMMENDATION
We are pleased to recommend that the dissertation work entitled Speed
control of DC Motor carried out by Piyush Mandre, Piyush Tripathi,
Prince Kesharwani, Riya Jain, Sukhdev Arya, in partial fulfillment for
degree of Bachelor of Engineering (B.E.) in Electrical Engineeringof Rajiv
Gandhi Proudyogiki Vishwavidyalaya, Bhopal (M.P.)during the year 2022-
23. The project report has been approved as it satisfies the academic re-
quirement in respect of project work prescribed for the Bachelor of Engin-
eering degree.

Supervisor Prof. & Head

Mr. Arun Parakh EED, SGSITS, Indore
EED, SGSITS, Indore .
.
Co-Supervisor
Enter name of Co-supervisor .
EED, SGSITS, Indore .

Dean (Academics)
SGSITS, Indore
 Shri G.S. Institute of Technology and Science,
Indore-452003 (M.P.) -India
Department of Electrical Engineering

2022-23

CERTIFICATE
We are pleased to certify that the dissertation work entitled Speed con-
trol of DC Motor carried out by Piyush Mandre, Piyush Tripathi, Prince
Kesharwani, Riya Jain, Sukhdev Arya, is accepted in partial fulfillment for
the award of the degree of Bachelor of Engineering in Electrical Engineering
of Rajiv Gandhi Proudyogiki Vishwavidyalaya, Bhopal (M.P.) during the
year 2022-23

Internal Examiner External Examiner

Date: Date:
 Shri G.S. Institute of Technology and Science,
Indore-452003 (M.P.) -India
Department of Electrical Engineering

2022-23

DECLARATION
I Piyush Mandre, Piyush Tripathi, Prince Kesharwani, Riya Jain, Sukh-
dev Arya, , student of Bachelor of Engineering (B.E.) in Electrical Engin-
eering, hereby declare that I have worked on project with title Speed con-
trol of DC Motor under the supervision of Mr. Arun Parakh, Assistant
Professor, Electrical Departement & Enter name of Co-supervisor, Enter
Designation of Co-Supervisor, Enter Department of Co-Supervisor and
all the material used in the report are properly referenced and all references
are taken into account to the best of my belief.

Piyush Mandre Piyush Tripathi Prince Kesharwani

0801EE201071 0801EE201072 0801EE201074

Riya Jain Sukhdev Arya

0801EE201076 0801EE201090
 DEDICATION

This study is wholeheartedly dedicated to the Faculties of EED who have been our
source of inspiration and gave us strength when we thought of giving up,who continuosly
provides thier moral and spiritual support

We would also like to thank to all people who help us in any direct or indirect way
whether it is our classmates,friends or parents.
 Acknowledgments

I would like to express my profound gratitude to Mr. Arun Parkh(HOD), of Electrical

Engineering Department, and Mr Pemendra Kumar Paridhi and Mr Lokesh Gurjar of
SGSITS College for their contributions to the completion of my project titled Speed
Control of DC Motor

I would like to express my special thanks to our mentor Ms Rinki Rajpal for /her time
and efforts she provided throughout the Semister. Your useful advice and suggestions
were really helpful to me during the project’s completion. In this aspect, I am eternally
grateful to you.

Piyush Mandre
Piyush Tripathi
Prince Kesharwani
Riya Jain
Sukhdev Arya
 Abstract

We are in the age of that world where energy plays a very important role.Since we have
abundant sources of energy but we can’t use them directly due to some economical and
geographical problem,So it is necessary to convert available energy to fulfill our requirement
.DC Motors plays an important role in energy conversion process.

It is a machine which converts electrical energy into mechanical energy .In mechanical
system,speed varies with the number of task so speed control is necessary to do mechanical
work in a proper way.It make motor to operate easily.

DC motor is a motor which runs at a constant speed .But using field and armature
rheostat control method we can make it more versatile.Fields rheostat provides above
normal speed and armature rheostat provides wide range of below normal speed.So applying
both method s simultaneously we can obtain wide range of speed for different applications.

The main problem of this is bulky rheostat is required across the armature so large
amount of power is wasted in controlling resistance and poor speed regulation results for
the lower speed.So we are limited for lower speed.
Contents

List of Figures ii

List of Tables iii

1 Introduction 1
1.1 Motivation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
1.2 Previous work . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
1.3 Organization of thesis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3

2 Literature Survey 4
2.1 Dc Motor Speed control sing PWM Method . . . . . . . . . . . . . . . . . 4
2.2 DC motor speed control using microcontroller . . . . . . . . . . . . . . . . 5
2.3 Speed Control of DC Motor Using Android Application . . . . . . . . . . . 7

3 Results and Analysis 9

3.1 Working . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
3.2 Advantages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

4 Methodology 12

Appendix A Codes used in the thesis 13

i
Chapter 1

Introduction

This project is designed to control the speed of a DC motor using the MSP430 micro-
controller development board by Texas Instruments . Speed of the DC motor is directly
proportional to the voltage applied across its terminals. Hence, if the voltage across the
motor terminal is varied, then the speed can also be varied.

Here we use core concepts of Power Electronics,Microprocessors and Electrical machine

to control the speed of DC motor.The basic concepts applied to fabricate this project
include.

1.Information about various kinds of rectifiers and their applications. 2.Speed control
parameters of Dc motor including Voltage. 3.Varying of output voltage by varying firing
angle of controlled rectifiers. 4.Information about MSP430 including its architecture and
wide application. 5.Use of Software such as Code Composer Studio to code MSP430 in
order to vary voltages and control speed of DC motors. This project stands apart from
rest of the ways to control speed of dc motors by using the unique concept of controlling
Voltage via Microprocessor and combined use of rectifiers in an attempt to automate this
most important use of DC motors in Today’s Economy.

1
Introduction 2

Thus, the speed of a DC motor can control in three ways: By varying the flux, and
by varying the current through field winding By varying the armature voltage, and the
armature resistance Through the supply voltage

1.1 Motivation

The wide applications of speed control of DC MOTOR itself presents the inspiration
to make the process more easy and efficient in day to day applications.The foremost aim
is to make the process so simple that Controlling Speed by just a few taps on controller
can get desired results and thus greatly reducing efforts.This automation process of con-
trolling speed covers almost every range of application in society whether it be industrial
or household or general purpose.

1.2 Previous work

There are multiple ways to adjust the speed of a DC Motor manually. The simplest way
to achieve this is with the help of a variable resistor i.e. we can adjust the speed of a DC
Motor by using a variable resistance in series with the motor.
But this method is usually not prepared for two reasons. The first reason is energy
wastage i.e. the resistor dissipates the excess energy as heat. The second reason is if we
want to use any devices like microcontrollers or any other digital equipment for automating
our DC Motor speed control, then this method cannot be used. We use DC Motors in many
systems in our day to day life. For example, CPU fans, fume extinguishers, toy cars etc.
are all DC Motors which are operated by DC power supply. Most of the times we will have
to adjust the speed of the motors as per our requirement.
A CPU Fan for example, must be operated at high speed when the CPU is preforming
Introduction 3

heavy tasks like games or video editing. But for normal usage like editing documents, the
speed of the fan can be reduced.
Although some systems have an automatic adjustment system for fan speed, not all
systems possess this functionality. So, we will have to adjust the speed of the DC Motor
ourselves occasionally.

1.3 Organization of thesis

Chapter 1 gives a brief introduction about the objective that we intend to achieve through
this work. Also this chapter gives some idea about the areas into which we would be looking
at during the course of work. In chapter 2, some of the methods of speed control and the one
which is more efficient is discussed here. Chapter ?? describes all the application of the used
tools, which we have used in this project. Chapter ?? explains the complete methodology
in detail in order to application execution analysis with different set of parameters. A brief
explanation about speed control of dc motor and its working has been described in chapter
??. In Chapter 3, results obtained during the simulation have been presented in tabular
and graphical form and we look for the reasons behind obtained results. Brief conclusion
and future prospects of the project have been summarized in chapter ??.
Chapter 2

Literature Survey

A valuable amount of research has been carried out on this topic. Broadly, I can classify
all the literature reviews into 3 categories:

2.1 Dc Motor Speed control sing PWM Method

The major reason for using pulse width modulation in DC motor control is to avoid the
excessive heat dissipation in linear power amplifiers. The heat dissipation problem often
results in large heat sinks and sometimes forced cooling. PWM amplifiers greatly reduce
this problem because of their much higher power conversion efficiency. Moreover, the
input signal to the PWM driver may be directly derived from any digital system without
the need for any D/A converters. The PWM power amplifier is not without disadvantages.
The desired signal is not translated to a voltage amplitude but rather the time duration
(or duty cycle) of a pulse. This is obviously not a linear operation [3]. But with a few
assumptions, which are usually valid in motor control, the PWM may be approximated as
being linear (i.e., a pure gain). The linear model of the PWM amplifier is based on the
average voltage being equal to the integral of the voltage waveform. Thus VS * Ton = Veq

4
Literature Survey 5

* T Where VS = the supply voltage (+12 volts) Ton = Pulse duration Veq = the average
or equivalent voltage seen by the motor T = Switching period (1/f) The recommended
switching frequency is 300Hz. The switching frequency (1/T), is determined by the motor
and amplifier characteristics. The control variable is the duty cycle which is Ton / T. The
duty cycle must be recalculated at each sampling time. The voltage of the motor is Veq.
which is equal to the duty cycle times the supply voltage.

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. In wave form, the
signal has a mark space ratio of 1:1, with the signal at 12v for 50In wave form, the signal
has mark space ratio of 3:1, which means that the output is at 12v for 75clearly gives an
average output voltage of 9v, so the motor runs at 3/ 4 of its maximum speed.

2.2 DC motor speed control using microcontroller

The main purposeof this paper is to analyze, identify and makeconclusion based on
this paper. A literaturereview means a collecting related data, analyzed business process,
Literature Survey 6

identify underlying patterns andcreate a conclusion. Another description of theliterature

review is a systematic, explicit andreproducible method to identifying evaluatingand syn-
thesizing the exiting body of completedand recorded work produced by researcher,scholars
and practitioners.

Facts and Findings established what the existingsystem does and the problem are and
leads to adefinition of a set of options from which usersmay choose their required system.
This sectionwill be discussing about the domain of this project, the existing system and fi-
nally the othertechniques that applicable to be used whiledeveloping this project. It focused
on the how todesign and develop the project systematicallyaccording to the requirement
of minimize thefunctional of conventional project. In the othersituation, these will be de-
scribing any element ormethod which is useful to be used for the purposeof searching and
gathered useful information indeveloping this project.

The AC voltage, typically 220V RMS, isconnected to a transformer, which step down
ACvoltage to the level of the desired DC output. Adiode rectifier then provides a full-wave
rectifiedvoltage that is initially filtered by a simplecapacitor filter to produce a dc voltage.
Thisresulting dc voltage usually has some ripple or acvoltage variation. A regulator circuit
removes theripples and also remains the same dc value evenif the input dc voltage varies,
or the loadconnected to the output dc voltage changes.

The speed control of the DC motor is important because its speed can be changed over
a widevariety of simple methods which is not possiblein an AC motor.The total voltage
of the batteries or DC powersource connected to a shunt motor affects howfirst it moves.
Increasing the DC voltage willmake the shunt motor run faster.In future if this motor is
used in fans then we canget variable speed by just pressing of push buttons.
Literature Survey 7

2.3 Speed Control of DC Motor Using Android Application

Bhattacharjee and team have studied the speed control of BLDC motor through mobile
application via secured Bluetooth. For controlling the speed and direction of a BLDC motor
signal is sent by the android application and further transmitted to the Bluetooth module
received by Arduino Uno. With the help of this scheme, we can drive the motor in clockwise
or anticlockwise direction. Direction of motor is controlled by reversing the direction of
current flow either in armature or in field winding of the BLDC. This technique uses
four main hardware’s Arduino Uno ATmega328 microcontroller, Android mobile, BLDC
motor Bluetooth module. In this technique, user send the instruction to the Arduino Uno
ATmega328 microcontroller via android mobile, which is wirelessly connected with the
Bluetooth module. The Bluetooth module reads the information sent by the user further
sends to the Arduino Uno microcontroller, which drives the BLDC motor. PWM technique
is used to control the speed direction of BLDC motor.

PWM technique is most widely used for speed control application. Speed of DC motor
is controlled by varying the duty cycle of PWM pulse. Speed of motor increases when
duty cycle is increased motor speed decreases as duty cycle is decreased. Advantages
of using this technique is BLDC motor is used its rotating speed is very high motor
accelerate decelerate quickly due to low inertia its power is very high and more reliable.
It is most widely used in BlueTerm BlueArd to control any device via Bluetooth. In this
paper, researchers conclude that Arduino Uno is used for controlling the speed direction
of BLDC motor via Bluetooth. Terminal voltage has been changed with change in duty
cycle. PWM control vary the duty cycle.

in duty cycle. PWM control vary the duty cycle.[1] In the paper of N.Barsoum, simple
technique is used to control the speed of DC motor by sending SMS from mobile phone.
Literature Survey 8

The GSM module will receive SMS of desired motor speed in RPM send by the user. SMS
received on the GSM module will be proceed by MCU and MCU will convert the SMS
into suitable duty cycle for PWM pulse to control the speed of the DC motor. MCU
is programmed to continuously send an AT command to the GSM module to check for
message in the SIM every 5 second at location 1. Program will go to next step after
receiving the massage after that, MCU will receive the SMS, extract the speed change it
to a suitable duty cycle for the PWM.

ble duty cycle for the PWM. Suitable voltage is produced by controlling the motor drive
L2931 using PWM pulse. This suitable voltage is supplied to the motor so that desired
speed can be achieved. After completing this process, message was deleted at location 1
of GSM module by using AT command loop back to the first step again read the SMS
in SIM. This process will repeat continuously. There are many advantages of controlling
a motor using SMS i.e. Manual work will be reduced as the speed of motor is controlled
by giving instruction to the MCU, cost of wiring will also get reduced by using wireless
technology, using this method speed of DC motor is controlled wirelessly from far distance.
Chapter 3

Results and Analysis

The manual method of operation of speed control in dc motor has raised the issues of
various kind of errors due to humans or environment also in the modernised world like
now it seems inefficient to do things manually .Hence ,this project of speed control of dc
motor by microcontroller provides a first step towards making the process computerised or
automated. In order to make process computerised we need to focus on variable that de-
termines speed change in dc motor. By knowledge of Electrical machines we can determine
that speed depends on input voltage to the dc motor. Hence to change speed we need to
focus on parameter that can change voltage and which can easily be changed through com-
puter. Since we use direct ac supply for our project hence we require rectifiers to produce
dc output to the motor.Rectifier used here is single phase fully controlled rectifier.Now the
advantage of using a controlled rectifier such as SCR is that its firing angle can easily be
varied by microcontroller. And firing angle directly changes the voltage of motor, as higher
the firing angle lesser the voltage and lower the speed. Thus Speed control is achieved.

9
Results and Analysis 10

3.1 Working

The working of this circuit is very simple. It includes zero crossing circuit which changes
the comparator’s output state when the AC input crosses the zero reference voltage. This
is done by setting the comparator inverting input to the zero reference voltage and applying
the attenuated input to the non-inverting input. Then the output of this comparator is fed
into pin 2 of the microcontroller. This input is read by the microcontroller and the state
of the signal determines the further output of the microcontroller. We define a variable
in our code which sets to 1 when the input signal is high or else sets to 2 when the input
signal is low. Whenever the variable is set to one which means the input voltage is positive
during this duration and now the SCR 1 and SCR 4 gets triggered after a desired delay set
by us, this delay in firing of the determines the firing angle of the SCRs Similarly, when
the variable is set to two which means the input voltage is negative during this duration
and now the SCR 2 and SCR 3 gets triggered after a desired delay set by us, this delay
in firing of the determines the firing angle of the SCRs Single phase full converter circuit
is used here to rectify the input and we get variable output voltage according to the firing
angle which is determined by the delay set by us. Here we have used a DC motor as a load
and it’s speed is changes according to the output voltage we have obtained by the circuit.
And relation between output speed of dc motor and Input Voltage is given by E=Ke(w).
Where: kE = electrical constant, inherent to the motor = angular velocity of the motor

This project is about controlling the speed of dc motor using microcontroller aiding us to
implement a effortless way of automating various applications of speed control of dc motor
in day to day life and industries.Hence it overcomes many problems such as unoptimised
controls, frequent errors due to human interventions, complex troubleshooting etc. The
project has proposed the idea of controlling the speed of dc motor by varying the firing
Results and Analysis 11

angle through microcontroller.This varied firing angle further triggers the single phase full
converter whose output

3.2 Advantages

1. Optimized Control - Easier to operate each of these items individually as you only
need to say a command, and the smart device will complete the task. 2.Automation-Speed
control of dc motor by using microcontrollers has made the process much effortless and
easier to execute. 3. Precise Operation-By using microprocessor we can ensure almost
error free processes as it is controlled by computers and thus provide better efficiency. 4.
Improved appliance functionality - Connecting your appliances and other systems with such
automating technology will improve your appliance effectiveness. 5.Easier Troubleshooting-
As this way of controlling speed of DC motor does not include any complex circuitry so
finding faults is easier.

There are a variety of enhancements that could be made to this system to achieve greater
accuracy in control. For future works, it is better to analyse the effect of ripple factor on
the single phase high current fully controlled rectifier DC output voltage. The ripple factor
will affect the DC output voltage. Future work should be on reducing the ripple voltage
at the output. Moreover, it is better to use that high rating value. The high rating can
help to ease to implementation of the experiment. Feedback loops can be inculcated in the
circuit diagram of the project which can ensure automated control of speed of dc motor
thus ensuring desired speed at all times. Also Better algorithm can ensure more effective
controlling of speed of dc motor.
Chapter 4

Methodology

PIC 16F877A is the heart of the project, which compareactual speed of DC motor with
reference speed. Opticalencoder circuit converts actual speed in square waveform. As the
motor speed changes frequency of thesquare wave also changes. Reference speed given to
thesystem through PC. PIC 16F877A generate controlsignal which is proportional to the
difference betweenactual and reference speed. The control signals are in theform of PWM
wave having constant frequency.PWM wave is used to turn ON/OFF the powerMOSFET,
connected in H- bridge configuration. Thisarrangement provides facility for speed reversal
of DCmotor. So the armature winding get average DC voltagewhich determine the speed
of DC motor

It is possible to obtain control the speed of motor oververy wide range from few rpm
to thousand rpm International Journal of Scientific Research in Science and Technology
(www.ijsrst.com) 66 (depends up on the motor specification). Field voltage ofDC shunt
motor is kept maximum armature voltage isvarying i.e.160V, 180V, 200V etc. according
to thePWM

12
Appendix A

Codes used in the thesis

1. Arduino Code

#d e f i n e s c r 1 g a t e 8
#d e f i n e s c r 2 g a t e 9
byte ZC = 0 ;
void setup ( void ) {
pinMode ( s c r 1 g a t e , OUTPUT) ;
d i g i t a l W r i t e ( s c r 1 g a t e , LOW) ;
pinMode ( s c r 2 g a t e , OUTPUT) ;
d i g i t a l W r i t e ( s c r 2 g a t e , LOW) ;
a t t a c h I n t e r r u p t ( 0 , ZC detect , CHANGE) ; // Enable e x t e r n a l
i n t e r r u p t ( INT0 )
}
v o i d ZC detect ( ) {
i f ( digitalRead (2) )
ZC = 1 ;
else

13
Codes used in the thesis 14

ZC = 2 ;
}
void loop ( ) {
i f (ZC == 1 ) {
delay (5) ;
d i g i t a l W r i t e ( s c r 1 g a t e , HIGH) ;
delay (1) ;
d i g i t a l W r i t e ( s c r 1 g a t e , LOW) ;
ZC = 0 ;
}
i f (ZC == 2 ) {
delay (5) ;
d i g i t a l W r i t e ( s c r 2 g a t e , HIGH) ;
delay (1) ;
d i g i t a l W r i t e ( s c r 2 g a t e , LOW) ;
ZC = 0 ;
}
}
Conclusion and Future Work

This project is about controlling the speed of dc motor using microcontroller aiding
us to implement a effortless way of automating various applications of speed control of
dc motor in day to day life and industries.Hence it overcomes many problems such as
unoptimised controls, frequent errors due to human interventions, complex troubleshooting
etc. The project has proposed the idea of controlling the speed of dc motor by varying
the firing angle through microcontroller.This varied firing angle further triggers the single
phase full converter whose output voltage is the input to DC motor. Thus by simple
variation of firing angle we can change the voltage and thus achieve the speed control of
dc motor.This particular setup of speed control guarantees following advantages1.Optimize
Control 2.Automation 3. Precise Operation 4. Improved appliance functionality 5.Easier
Troubleshooting For all these reasons, this method of speed control is not only an attractive
choice in renovation and refurbishment,but also for new installations.

There are a variety of enhancements that could be made to this system to achieve greater
accuracy in control. For future works, it is better to analyse the effect of ripple factor on
the single phase high current fully controlled rectifier DC output voltage. The ripple factor
will affect the DC output voltage. Future work should be on reducing the ripple voltage
at the output. Moreover, it is better to use that high rating value. The high rating can
help to ease to implementation of the experiment. Feedback loops can be inculcated in the

15
Codes used in the thesis 16

circuit diagram of the project which can ensure automated control of speed of dc motor
thus ensuring desired speed at all times. Also Better algorithm can ensure more effective
controlling of speed of dc motor
References

https://www.academia.edu/15442503/SpeedC ontrolo fD CM otorU singM icrocontroller

https://rcciit.org.in/studentsp rojects/projects/ee/2019/GR16.pdf

https://www.researchgate.net/publication/312427486A utomaticS peedC ontrollero faD CM otorU singA r

https://www.electronicshub.org/speed-control-of-dc-motor-using-pulse-width-modulation/

17
Biography

<Insert brief Bio of Author (i.e. student)>

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