Technical University of Mombasa

Faculty of Engineering and Technology

DEPARTMENT OF ELECTRICAL AND ELECTRONIC ENGINEERING

Diploma in Technology Electrical and Electronic Engineering

FOUR QUADRANT DC MOTOR CONTROL

SYSTEM
NAME;

ONDUKO STANLY MASI.

REG NO;

DTEE/259J/2019.

SUPERVISOR;

MR. ESAU OMONDI.

A Research project submitted to technical University of Mombasa in partial

fulfillment for the award of Diploma in Electrical and Electronic Engineering.

Year of submission; December, 2022.

DECLARATION
I Stanly Onduko do hereby declare that this research project is my original work and has not
been presented for any award of certificate in any other University or College.

Signature Date

Name

This research project has been submitted for examination with my approval as the University
Supervisor.

Signature Date

Name

DEDICATION
I dedicate this project for my lovely parents for funding me to proof my creativity skill. I also
want to thank my Supervisor Mr. Esau for the guidelines and guidance throughout the exercise of
my project.

ACKNOWLEDGEMENT
I would like to express my heartfelt gratitude to Mr. Esau, who is my supervisor, for his constant
guidance in the implementation of this project. I must particularly thank him for his commitment
and unrelenting effort to see me do all the assignments appertaining to this project. Secondly, I
would also like to thank my friends and classmates for believing in me. I also thank all the
classmates with whom we have journeyed through the three years together and particularly those
whom we discussed this project with.
Above everything else, may the Almighty God receive the glory for giving life to all those who
contributed to this work. I thank Him for the life He gave me, the opportunities He has blessed
me with and the strength to carry on, even when faced with impossibilities and despair got the
better of me, He was the driving factor that gave me hope
Table of Content

DECLARATION........................................................................................................................................i
DEDICATION...........................................................................................................................................ii
ACKNOWLEDGEMENT........................................................................................................................iii
Table of Content.......................................................................................................................................iv
LIST OF TABLES.....................................................................................................................................v
LIST OF FIGURES..................................................................................................................................vi
CHAPTER ONE.............................................................................................................................................1
INTRODUCTION...........................................................................................................................................1
1.1 Introduction......................................................................................................................................1
1.3 General objective..............................................................................................................................3
1.3.1 Specific Objectives..........................................................................................................................3
1.4 Research questions...........................................................................................................................3
1.5 Assumptions......................................................................................................................................4
1.6 Justification of study.........................................................................................................................4
1.7 Significance of study.........................................................................................................................4
1.8 Scope of study...................................................................................................................................4

LIST OF TABLES

LIST OF FIGURES

CHAPTER ONE

1.1 Introduction.
The main goal of the project is to develop a speed control system for a dc motor
for all quadrants with the help of a four-quadrant unity to control clockwise,
counter clockwise, forward brake and reverse brake modes of a dc motor. The
system is very useful for industries operation since industries usually require dc
motor to operate in all four quadrants for various operational cases.
The four-quadrant operation of the dc motor is best for industries where motors
are used and as per requirement as they can rotate in clockwise, counter
clockwise and also apply brakes immediately in both directions. In case of a
specific operation in industrial environment, the motor needs to be stopped
immediately. In such scenarios this proposed system is very important as forward
brake and reverse brake is its integral feature.
Instantaneous brake in both the directions happens as a result of applying a
reverse voltage across the running motor for a short period. 555 timer used in the
project develops required pulse. Push button are provided for the operation of
the motor which are interfaced to the circuit that provides an input signal to it
and in turn controls the motor through a driver IC. Optionally speed control
feature can be achieved but not provided in this project by push button
operation. This project in future can be improved by using high power electronic
devices to operation high capacity dc motors. Regenerative braking for optimizing
the power consumption can also be incorporated. The system is very useful for
industrial operation since industries usually require dc motor to operate in all four
quadrants for various operational cases. This system enables to operate motors in
all four quadrants.
Dc motor controls have been used for speed and position control applications. In
applications where an extremely low maintenance is not required dc control
continues to be used because of their initial low cost and excellent drive
performance.
EQUIVALENT CIRCUIT OF A DC MOTOR
A Motor is a machine that converts electrical energy into mechanical energy. 
The EMF equation of DC Motor is given by the equation shown below:
Where,

Eb is the induced emf of the motor

 N is the speed
 P is the number of poles
 ϕ is the flux per pole.
 Z is the total number of conductors
 A is the number of parallel paths

The armature of a DC Motor can be represented by an equivalent circuit. It can be

represented by three series-connected elements E, Ra and Vb. The element E is
the back emf, Ra is the armature resistance and Vb is the brush contact voltage
drop.
The equivalent circuit of the armature of a DC motor is shown below:

In a DC motor, the current flows from the line into the armature, against the
generated voltage. By applying KVL,

Where,
 V – Motor terminal voltage
 Eb – Back EMF
  Ia – Armature current
 Ra – Armature circuit resistance
It is seen that the Back EMF of the motor is always less than its terminal voltage V.
The equation can also be written as shown below:

This equation is considered or applicable when the voltage drop Vb in the brushes is
also taken into account.
Seldom are dc machines used as generators, however they act as generators
while braking where their speed is being reduced. Therefore, it is important to
consider dc machine in their generator made of operation

In order to consider braking we will assume that the flux is kept constant and the motor is initially
driving a load at a speed of Wm. To reduce the motor speed if Vt is reduced below Ea. Then the current
Ia will reverse in direction. The electromagnetic torque reverses in direction and the kinetic energy
associated with the motor load inertia is converted into electrical energy by the dc machine which now
acts as generator. This energy must be somehow absorbed by the source of Vt or dissipated in a resistor.

In motoring mode, the machine works as ac motor and converts the electrical energy into mechanical
energy supporting its motion.
In braking mode, the machine works as a generator and convert mechanical energy into electrical
energy and as a result it opposes the motion. The motor works in both forward and reverse direction
i.e., motoring and braking operation.

The product of angular speed and torque is equal to the power development by a motor. For
multiquadrant operation of drives the following conventions about the signs of torque and speed are
used. When the motor is rotated in the forward direction the speed of the motor is considered positive.
The drives which operate only in one direction# forward speed will be their normal speed.

In load involving up and down motions the speed of the motor which causes upward motion is
considered to be in forward motion. For reversible drives forward speed is chosen arbitrarily

The rotation in the opposite direction gives reverse speed which is denoted by a negative sign. The rate
of change of positively in the forward direction or the torque which provides acceleration is known
as positive motor torque. In the case of retardation, the motor torque considered negative. Load
torque is opposite to the positive torque in the direction.

Quadrant I

In the first quadrant, the developed power by the motor is positive, thus the motor operates in motoring
mode and converts electrical energy into mechanical energy. Therefore, the operation of the motor in
first quadrant is called forward motoring.

Quadrant II

In the second quadrant, the direction of the rotation is positive i.e., speed is positive and the torque is
negative. Hence, the developed power is negative and the machine operates as a generator which
opposes its motion. The kinetic energy of the moving parts of the machines is converted into electrical
energy. Therefore, the operation of motor in second quadrant is called forward breaking.

Quadrant III

In the third quadrant, the motor speed and torque both are negative, hence the power is positive.
Therefore, the operation of the motor in the third quadrant is known as reverse motoring.

Quadrant IV

In the fourth quadrant, the motor speed is negative and the developed torque is positive, hence the
motor power is negative which is corresponding to the breaking operation. Therefore, the operating in
fourth quadrant is known as reverse breaking.

555 TIMER

555 timer IC is an integrated circuit (chip) implementing a variety of timer and

multivibrator applications.

The original name was SE 555 (metal con), NE 555 (plastic DIP) and in the past was described as the IC
time machine.

Depending on the manufacture standard 555 package include over 20 transistors 2 diodes and 15
resistors on a silicon chip installed in an 8-pin mini dual-in-line package (DIP 8)

It can be used as astable and bistable modes but, in this case, we use the stable mode.

It uses a supply of 5-15 Volts

H BRIDGE MOTOR DRIVER

H Bridge is a simple electronic circuit which enables us to apply voltage to load in either direction. It is
commonly used in robotics application to control DC Motors. By using H Bridge, we can run DC Motor in
clockwise or anticlockwise directions.  This circuit is also used to produce alternating waveforms in
inverters.

The H bridge motor drive acts as a current amplifier since the take a low current control signal and
provides a higher current signal. This higher current signal is used to drive the motor.
When switches S1 and S4 are switched on, motor runs in clockwise direction.

When S2 and S3 are switched on, motor runs in anticlockwise direction

These switches are replaced by transistors.

BRIDGE RECTIFIER

This is an alternating current to direct current converter that rectifies

mains AC input to DC output. They are widely used in power supplies
that provide necessary DC voltage for the electronic components or
devices. They can be constructed with four or more diodes or any other
controlled solid-state switches. The full wave rectifier converts both
halves of each waveform cycle into pulsating DC signal using four
rectification diodes. In the previous power diodes tutorial, we discussed
ways of reducing the ripple or voltage variations on a direct DC voltage
by connecting smoothing capacitors across the load resistance.
VOLTAGE REGULATOR

A voltage regulator is a circuit that creates and maintains a fixed output

voltage, irrespective of changes to the input voltage or load conditions.
Voltage regulators (VRs) keep the voltages from a power supply within
a range that is compatible with the other electrical components. While
voltage regulators are most commonly used for DC/DC power
conversion, some can perform AC/AC or AC/DC power conversion as
well.
Like most other regulators in the market, it is a three-pin IC; input pin
for accepting incoming DC voltage, ground pin for establishing ground
for the regulator, and output pin that supplies the positive 5 volts.

TRANSISTOR

The transistor is a three-layer semiconductor device consisting of either

two n and one p type layer of material or two p types and one n type
layer of material. Formerly it was called a npn transistor and then later
it was called a pnp transistor. The emitter layer is heavily doped with
the base and collector only lightly doped. The outer layer has widths
much greater than the sandwiched p" or n" type material. The
operation of the npn transistor is exactly the same if the role played by
the electron and hole are interchanged.

When working as an amplifier, a transistor transforms a small input

current into a bigger output current. As a switch, it can be in one of two
distinct states -- on or off -- to control the flow of electronic signals
through an electrical circuit or electronic device.