DELHI TECHNICAL CAMPUS GR NOIDA DEPARTMENT OF ELECTRICAL & ELECTRONICS ENGINEERING

Experiment No: 1
SPEED CONTROL OF DC MOTOR

1.1 Objective 1.2 Apparatus required 1.3 Block diagram 1.4 Theory 1.5 Procedure 1.6
Observation table 1.7 Result 1.8 Pre-Requisite 1.9 Post- Requisite

1.1 OBJECTIVE: To study the speed control of DC separately excited motor in open loop and
closed loop system.

1.2 APPARATUS REQUIRED:

Experimental setup containing the following units:

Sr. No. Name of Apparatus Range/Rating Quantity

1 Control unit - 1
2 Motor Unit 12V, 0.4A 1
3 Connecting Wire - -

1.3 BLOCK DIAGRAM:

Fig. Block diagram for dc motor speed control in open loop and close loop

1.4 THEORY:

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DELHI TECHNICAL CAMPUS GR NOIDA DEPARTMENT OF ELECTRICAL & ELECTRONICS ENGINEERING

A control system is a system of devices or set of devices, that manages, commands, directs or
regulates the behaviour of other devices or systems to achieve desire results. There are two main
types of control system.
Open Loop Control System:
A control system in which the control action is totally independent of output of the
system then it is called open loop control system. Manual control system is also an open loop
control system. Figure shows the block diagram of open loop control system in which process
output is totally independent of controller action.

Figure: Block Diagram of open room control system

Closed Loop Control System:

Control system in which the output has an effect on the input quantity in such a manner
that the input quantity will adjust itself based on the output generated is called closed loop
control system. Open loop control system can be converted in to closed loop control system by
providing a feedback. This feedback automatically makes the suitable changes in the output due
to external disturbance. In this way closed loop control system is called automatic control
system. Figure below shows the block diagram of closed loop control system in which feedback
is taken from output and fed in to input.

Figure: Block Diagram of close-loop control system

The control unit has, speed measurement system, electronic tachogenerator. Error
detector and forward gain amplifier, motor drive circuit, signal source, break control and digital
voltmeter for measurement.

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DELHI TECHNICAL CAMPUS GR NOIDA DEPARTMENT OF ELECTRICAL & ELECTRONICS ENGINEERING

a. The speed measurement system:

A uniformly board (10 No. in this case) disc is attached with the motor shaft which
interrupt the LED's, light falling upon a photodiode thus generates 10 pulses for every revolution
(in motor unit). These pulses are than feed to a signal conditioner and scaling circuit (in control
unit). The output of which sends to a frequency counter which in turn indicate the revolutions per
minute.
b. The tachogenerator:
From signal conditioner a proportional dc voltage generated by a frequency to voltage
converter which is brought upon a socket upon panel. These proportional voltage can be applied
to error amplifier by a switch fitted nearby tacho out socket.
c. Error detector and forward gain amplifier:
In open loop the error signals are fed to an amplifier (K A) the gain of which can be
altered in uniform steps from x 3 to 10 in open loop and 3 - 10 & 20 in close loop. In close loop
circuit the difference of voltage (VS - VT) is applied to forward gain amplifier. The 2nd amplifier
has gain 1 in open loop while x1 or x10 in close loop as selectable.
d. Motor driver amplifier:
It is a unity gain amplifier designed to deliver necessary current to the motor. A current
limit circuit is incorporated with this circuit.
g. A 31/2 digit digital voltmeter having + 19.99V fsd, is provided upon the panel. The common
input of which is connected with system ground internally.
e. Signal source:
A dc reference voltage potentiometer provided for set point voltage VS, and a rectangular
wave of 1 Hz, having 1Vpp amplitude for time constant studies.
f. Brake control:
A two position switch applies regulated dc voltage to an electromagnet fitted in motor
unit for breaking (disturbance) purpose.
The switch provided to made step between magnetic force intensity on or off.

PROCEDURE:
The open loop performance:
In first case the motor is allowed to run without feedback. To perform it switch S (Situated near
VT socket) is kept at upper side, thus feedback signal does not enter in error amplifier. The
amplifier gain factor is selected for lowest gain = 3. Connect motor unit with the main unit by
mean of 9 pin D type cable provided. Step signal is kept off. Amp 2 gain should be x1.
Step 1: Set VR = 0.6 ~ 0.7 volt, the reference voltage which is adjusted by given potentiometer
and measured at given socket ( VR in signal chain)by DVM provided. Break switch should be
off (in off position).
Step 2: Connect DVM with the feedback signal socket VT = tacho output.
Step 3: Note the speed (N): n RPM from display and tacho output VT in volts from DVM.

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DELHI TECHNICAL CAMPUS GR NOIDA DEPARTMENT OF ELECTRICAL & ELECTRONICS ENGINEERING

Step 4: Record n RPM and VT volts for successive gain 4,5,6 ….. 10.

Note:
The n RPM and VT should be note in steady state motor speed. If there is little fluctuation occurs
than the mean of two should be taken, e.g. N = 1500 ~ 1520 = 1510, although it does not affect
the results much.
Step 5: Calculate motor drive voltage as VM = VR.KA. Where KA is the gain set from the control
3, 4, 5...10, e.g. at VR = 0.6 ~0.7 V, the VM at Gain = ...V.
Step 6: Plot N v/s VM and VT v/s N (see fig 3). Find out motor speed ωss, gain constant KM and
tachogenerator constant KT from linear region of the curves as,

𝑟𝑎𝑑
𝑆ℎ𝑎𝑓𝑡 𝑠𝑝𝑒𝑒𝑑 𝑖𝑛
𝑠𝑒𝑐
= 𝜔𝑠𝑠
KM = 1/K where 𝐾=
𝑀𝑜𝑡𝑒𝑟 𝑉𝑜𝑙𝑡𝑎𝑔𝑒=𝑉𝑀

𝑉
KT = 𝜔𝑇
𝑠𝑠
The close loop performance:
To perform close loop switch S is kept towards VT side marked on, thus the feedback signal,
voltage get subtracted from the reference signal (voltage). Amp 2 gain should be x1.
Step 1: Set KA = 3. Adjust reference voltage VR = as previous value, e.g. adjust by measure
voltage at VR socket. Break at zero position.
Step 2: Observe the motor speed get decreased. It is due to addition of error voltage in reference
voltage which decrease motor voltage and speed. As shown in block diagram these voltage are
compared with the reference.
Step 3: Take more readings at KA = 4, 5, 6, 10.
Step 4: Tabulate the results between Gain factor K and speed n.

Disturbance rejection:
To study of disturbance rejection an eddy current brake is provided. The disturbance rejection
should be tabulated in both open and close loop system.
Open loop system:
Step 1: Set KA = 4. Adjust VR = 0.7volt. Keep switch S towards upper side thus motor runs in
open loop.
Step 2: Note the n RPM. Apply disturbance by mean of break switch towards on. Note n' RPM.
Step 3: Switch off the break. Set KA = 10. Note n RPM.
Step 4: Apply break and note n' RPM.
Close loop system:
Step 1: Set KA = 4 and put switch S towards ON thus to make close loop circuit. Note RPM.
Apply brake and note the RPM switch off break.
Step 2: Set gain 10 and note RPM. Apply brake and note RPM.
Step 3: Select x10 gain at Amp 2 thus total close loop gain is 100. Note RPM.

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DELHI TECHNICAL CAMPUS GR NOIDA DEPARTMENT OF ELECTRICAL & ELECTRONICS ENGINEERING

Apply brake and note RPM.

1.6 OBSERVATION TABLE:

Table 1. Voltage-Speed Characteristic without Load
VR=…….. Volts

Open –Loop System Close-Loop System

S. Amplifier N, VT(Volts) S. Amplifier N, VT(Volts)

N0. Gain, K Speed N0. Gain, K Speed
(rpm) (rpm)

1 3 1 3

2 4 2 4

3 5 3 5

4 6 4 6

5 7 5 7

6 8 6 8

7 9 7 9

8 10 8 10

Table 2. Voltage-Speed Characteristic with Load

VR=…….. Volts

Open –Loop System Close-Loop System

S. Amplifier Speed Speed S. Amplifier Speed Speed

No Gain, K (rpm) (rpm) N0. Gain, K (rpm) (rpm)
No-load with load No- with load
load

1 4 1 4

2 10 2 10

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DELHI TECHNICAL CAMPUS GR NOIDA DEPARTMENT OF ELECTRICAL & ELECTRONICS ENGINEERING

1.7 RESULT:
Comparison of open loop and closed loop in speed control of dc motor is performed using dc
motor speed control experimental kit.

1.8 PREREQUISITE:
Q1. What is open loop and closed loop control system?
Q2. What is the transfer function of dc motor?
Q3. What is tacho generator?
1.9 POST REQUISITE:
Q1. Compare the response of open loop and closed loop control system of dc motor?
Q2. Which type of brake system is used here?
Q3. Which type of loading is used in the experimental kit?