Chapter 1 : Industrial Driver

Objective
Know and Understand the normal speed control dc motor control thyristor and Ward Leonard
Most of the factories, dc machines become the choice of the driver or control elements. Different
between ac machine is have high starting torque and has a wide range of velocities that can
beoperated in both directions of rotation.
1.1 Speed control of DC motors.
When the machine is at work as a motor, the emf generated (Eb) is less than the voltage which
applied to the terminal voltage (V).
Then Eb = V - IaRa
V = Eb+ IaRa



Dc Motor
When the machine is at work as a generator emf generated (EG) is greater than the voltage applied
to the terminal voltage (V).
Then E
G
= V + IaRa
V = E
G
- IaRa
Ia

E
G

Generated




Ia Ra
E
b

V
M
Did you know there are 3 types
of motor connections dc an
extension of the series, shunt
and compound.

Ra
V
G
Ia - armature current
Ra - resistance
armature
Eb - Motor
EG - Generated
V - voltage terminal
Such methods are:
i. Armature control method.
ii. field control method
iii. input voltage control method

Control input voltage (V)
Contact emf generated with the speed, flux is represented by the equation;

(where Z, p and C are fixed)

E = kN ( is flux and k is a constant) Then V = kN + IaRa (for motor)
Speed motor

From equation may be expressed.
i. When the big V, the motor speed will be bigger
ii. When the armature current (Ia) High, high motor speed increases
iii. Flux () is inversely proportional to motor speed. This means that when the high flux, the motor speed
will be reduced
IaRa value usually less than 5% of the value of the voltage V.
Then

When the machine works as a generator emf generated (Eg) is greater than the voltage applied to the
terminal voltage (V) and when the machine works as a motor, the emf generated (Eb) is less than the
voltage applied to the terminal voltage (V )
Advantages of using direct current motor in many industries.
i. Have a high starting torque
ii. Velocity ranges vary
Schematic for a shunt motor DC and motor series DC




Dc shunt motor Dc Series motor
V=Eb+IaRa V=Eb+Ia(Ra+Rs)
Control field
The purpose of this control is to reduce the flux () by increasing the field resistance. When flux ()
decreases the speed N can be increased (can reach 3/4 times the normal speed).






Advantage
= This is an easy and convenient method.
= It is an inexpensive method since very little power is wasted in the shunt field rheostat due to
relatively small value of Ish.
=The speed control exercised by this method is independent of load on the machine
= Require low power control circuit.
=Changes in fast speed and direction of rotation changes can be made.
=Can be customized in automation control systems.
=Provides great range and precise control.
Disadvantages
Im Rs
V
Im
Rp V
M
M
Rsl R R
Rsl
Shunt motor
Series motor
V V
M
M
=Only speeds higher than the normal speed can be obtained since the total field circuit
resistance cannot be reduced below Rshthe shunt field winding resistance.
=There is a limit to the maximum speed obtainable by this method. It is because if the flux is too
much weakened, commutation becomes poorer.
= relatively high cost of using two motors and electronic amplifier.
Control the armature








In both motors, the resistance R is connected in series with the armature. Thus the armature
voltage Va can be reduced by making changes in the value of R. If the voltage drop at high R, the
voltage Va is reduced. Indirectly speed, N can be decreased.
Advantages
- Range of speed control.
Disadvantage
- Since the current It through the resistance (R) then there is a loss of power in the resistance.
A large amount of power is wasted in the controller resistance since it carries full
armature current Ia.
The speed varies widely with load since the speed depends upon the voltage drop in
The controller resistance and hence on the armature current demanded by the load.
The output and efficiency of the motor are reduced.
This method results in poor speed regulation.

V
Va
Va
Rsh
R
Rs
Serial Motor Shunt Motor
V
M M
Flux values can be reduced in both types of series and shunt motor by connect a resistance in series
with the armature.

Ward-Leonard System

If Rg +Rm Lg + Lm




Control signal Constant DC supply
Voltage generator

Ward-leonard system is a system that contains a generator (armature control) which couple with dc
motor as a driver. In this system, a motor field current is supply by separated dc source. An
electronic amplifier will control the strength of field current. The generated voltage will become an
armature input voltage (Va) for a motor where the speed is direct proportional generated voltage
(Nm Va). As a conclusion, the speed of motor can be varied by changing the control system at an
electronic amplifier.

Ward-Leonard system using electronic amplifiers
Controlling the generator field strength in turn controls the input voltage at motor armature
Nm Va meaning motor speed is directly proportional to the input voltage armature when the
input voltage increases the motor speed motor increases the motor speed in getting higher.
Function
Device drivers on motor voltage
Advantages:
i. A control circuit required a low power.
ii. A fast speed change and a rotation directional change can be made.
iii. Can be match with automation control system.
Rf
Lf
V

AMP
ELECTRONIC
M
G
iv. High control range.

Disadvantages:
Need a high cost because use 2 motors and electonic amplifier.
Application :Motor speed control use in blender, milling machines, the rotor and the coal mines.
DC MOTOR CONTROL USING THYRISTOR AND RESISTOR
DC Motor speed control using Thyristor.
Series Motor

R1

R2

Refer to figure 2.1 the speed regulation for dc motor is achieved by changing the average value of
supplied voltage across the motor armature with the change of thyristor triggering angle.
By trigger the components R1 and R2, the total trigger is almost 180o. When the supply switch is ON, a
maximum dc voltage will be reduced through R1 and R2. Change the value of rheostat R2 to the higher
value, the voltage across increased. By that, SCR will be ON at desired anglebetween00 to 1800.
Shunt motor


Speed control for dc shunt motor can be done using full wave rectifier that uses a thyristor.
R3
m
e
d
a
n
M
G
R2
R1
D1
D2
5
4
1
2
3
C
+
-
T
AC supply
SUS
M
The triggering angle of the SCR is regulated by R1 and then control the speed of motor. The thyristorand
SUS (silicon unilateral switch) were reset when voltage of half wave drop to zero. Before the supply is
given, R1 is in maximum value. When supply is given, capacitor C is energized through a motor armature
and diode D1 is in forward biased. When Vc reached the value, SUS will operate and permit the current
to flow and trigger the SCR. A thyristor required a large triggering angle to start a DC motor control. So
that a large triggering angle can be achieved using a low voltage. When R1 is in minimum range,
Capacitor C will be energised faster for SUS reached a breakdown voltage to trigger SCR earlier. So that,
a dc voltage average value will increased and hence increase the speed of motor.

Another method for Shunt motor


Motor speed control can be done using electronic components. Bridge rectifier is used to have full wave
dc supply. Shunt resistor is connected to dc supply. Armature voltage was control by SCR and the SCR
gate is control by zener diode. SCR will be triggered at every half cycle and OFF at the next half cycle.
Diode,D2 will permit the energy that save in form of wheeling current in armature coil during the SCR
OFF. During first half cycle, SCR OFF and capacitor C1 is charging by current that flow through D1 and
R3. When capacitor voltage Vc is equal with diode zener voltage Vdz (breakdown voltage), it will permit
the current flow to trigger the SCR. Hence, SCR will change to ON state. Time taken by C1 to
breakdown Thezener diode voltage is depends to rheostat R3 and SCR voltage.

Zener diode triggering SCR same.zener voltage capacitor voltage
Diodes function (freewheling diode) in thyristor control methods
The free wheeling diode function to allow current to flow when the SCR is not working the energy
stored in the motor when the SCR berkendali discharged through the diode.
Use the bridge rectifier circuit thyristor control circuit method
Act as generated ac and dc
SCR function in the circuit thyristor control method
S
AU
D1 D2
D3 D4
RSH
GELUNG
MEDAN
R1
330 K
RL C
0.2uF
SCR
GEC30B
D2
FWD
DZ
R3 D1
kawalan kelajuan
m
15K
As electronic switch to turn on or turn off the motor.
DC motor Control using resistor (face-plate starter)

Control resistance purposes use to limit the starting current high

a) Variable resistor
The used of variable resistor also known as a field regulator, which is connected in series with shunt
wound. It can be used in shunt motor and compound motor. When resistor value is increased, the
generated field current,flux and emf will decreased. So that, the armaturecurrent increased and the
increment of torque caused the armature accelerate until a generated emf is similar with supplied
voltage. Using this method, a speed can be increased to 3 or 4 times from a full excitement value, but
the speed cannot be decreased below the value. For speed regulator, normally maintain a constant
value for a load range from zero to full load.

b) Customize resistor,
Also known as controller, connected in series with armature. The controller installation is same with a
starter installation. The difference is in controller, a resistor is design to carry the armature current
continuously whereas starter is design to carry current for a short time only. For certain current value,
large controller resistor value in a circuit cause smaller potential different across the armature, so it will
reduce the speed.









Operation :
At the beginning, starting current is very high, that is 10 times from the exact value because a motor
doesnt have a back emf.
A stage resistor controller is use to limit a starting current and slowly added to increase the speed
motor.
Referring to a diagram, NVC contains a coil which wound at U shape iron core.A starting arm will bring
iron plate B to ON state. It can be done by magnetized the NVC using field current and hold B from
spring G pull and returned A to OFF state.
M
b. ..
c. ..
d. ..
e. ..
If the power supply is damage, a motor will stop, NVC will be demagnetized and it is not enough to hold
A from anticlockwise torque for G.
If a relation C is done between NVC with OLC, a shunt current will flow from A through B and C, a
starting resistor will be short circuit.
OLC is a coil that wound to an iron core and connects in series with motor. An iron plate P is pivot at one
end will become a connector to q-q point.
When a current received by a motor more than a certain value, a magnet P attraction is enough to
connect the q and short circuit the NVC and give away a starting arm A.

Applications of D.C. Motors
1. Shunt motors

The characteristics of a shunt motor reveal that it is an approximately constant speed motor. It
is, therefore, used
(i) where the speed is required to remain almost constant from no-load to full-load
(ii) where the load has to be driven at a number of speeds and any one of which is required to
remain nearly constant

Industrial use: Lathes, drills, boring mills, shapers, spinning and weaving machines etc.
2. Series motors

It is a variable speed motor i.e., speed is low at high torque and vice vice-versa. However, at
light or no-load, the motor tends to attain dangerously high speed. The motor has a high starting
torque. It is, therefore, used
(i) where large starting torque is required e.g., in elevators and electric traction
(ii) where the load is subjected to heavy fluctuations and the speed is automatically required to
reduce at high torques and vice-versa

Industrial use: Electric traction, cranes, elevators, air compressors, vacuum cleaners, hair drier,
sewing machines
.
3. Compound motors

Differential-compound motors are rarely used because of their poor torquecharacteristics.
However, cumulative-compound motors are used where a fairlyconstant speed is required with
irregular loads or suddenly applied heavy loads. Industrial use: Presses, shears, reciprocating
machines






Chapter 2 :Introduction to control system
Introduction
Automatic control system is very important in modern technology Basic control system is shown
in block diagram below. The function of the system is specialized to control variable C using input signal
through a control system.
A control system is a combination of components that relates each other to form a diagram to
produce a gain to a system.



Signal (input) Controlled variable (output)
e c
(output)
Figure 2.1: Basic control system block diagram
Types of control system
2.1.1 Open loop control system
A system that use a direct controller to get a required a gain system. Figure 3.2 shows a block diagram of
open loop system concept. An open-loop control system is one in which the control action is
independent of the output.

Controlled variable


(input) (input)


Example: Washing machine , electric kettle ,hair dryer ,toaster


Control system
e
C
(output)
r
(input)
Signal driving
Reference Signal
Controller
Controlled System
2.1.2 Closed loop control system
A system that represents a relationship between output variables and referenceinput. The
system output is influenced by input .The basic elements and block diagrams for closed loop
control system is shown in figure 2.3.







For closed loop control system, controller is moved by an error and not
from input. An error is defined as a different between input and output of the
system. A closed loop control system contains basic components such as open
loop system and two other components, error detector and feedback loop.

Advantages of closed-loop control system compared with open-loop control system is a system that can
maintain a certain relationship between the variables output and reference input.Example: Radio, TV,
water level control, Pumps pull the toilet ,Rocket launchers, computer
Detector/error
Detector serves as a tool to detect changes that occur at a constant output compare to the constant
input.
Controller
functions as a control device to a system based on the error received from the detector.
Feedback
Component serves as a feedback or measurement sensor device output signal that would send a
signal that is proportional to the output to the input for the purposes of correcting the situation.

R
(input)


+/-
output
Detector/error
controller Controlled system
Feedback components
Chapter 3
Solve Laplace transforms for functions f (t) the following
i) f(t) = sin at
ii) f(t) = cos at
iii) f(t) = 3 sin t
iv) f(t) = 4 kos t

Issue of Transfer Function Electric Network
Did you know some of the devices for the electrical circuit consisting of a resistor, inductor and capacitor
(capacitors). Use the Law Kirchoff current and voltage are useful in describing electrical circuits and
electrical networks.

Resistance


Inductor




Capacitor

Series Circuit RLC

According Kirchhoff law


Transfer function (open)




Examples of derivation of the transfer function of the RLC circuit

Transfer function



Transfer function



a)Resistance,b)Inductor, c) Capacitor


Answer







Answer