Numerical And Engineering

Optimization Methods
(MA261)

Project
TOPIC: Speed Control of DC Motor: Armature Control
Method (solved using Runge Kutta 4th order)
FINAL REPORT

SUBMITTED BY:
Sanyam Jain
2K19/EE/219
 Contents

1. Introduction

2. Parameter

3. Motor Equations

4. Runge Kutta

5. MATLAB Code

6. Output

7. SIMULINK Model

8. Output

9. Conclusion

10.References
Introduction
Armature Controlled DC Motor is given in the figure. The
DC Motor rotates an inertial element at an angular velocity
‘w(t)’ when current ‘i(a)’ passes through the armature. A
bearing supports the shaft opposite of the motor and creates a
torque due to viscous friction. The resistance torque is
proportional to angular velocity ‘w’ of the shaft with the
viscous coefficient ‘b’ being the constant of proportionality.

Figure 1 : Armature Controlled DC Motor

Model Equations
The DC Motor is modeled as follows:

 𝐸𝑏 = 𝑘𝑏 𝑤 -(1)
𝑑𝑖𝑎
 𝑉𝑎 = 𝐸𝑏 + 𝐿𝑎 + 𝑅𝑎 𝑖𝑎 -(2)
𝑑𝑡

𝑑𝑤
 𝑇𝑠 = 𝐽 + 𝐵𝑤 -(3)
𝑑𝑡

 𝑇𝑠 = 𝑘𝑡 𝑖𝑎 -(4)

Using equation (1) and (2)

𝑑𝑖𝑎
 𝑉𝑎 = 𝑘𝑏 𝑤 + 𝐿𝑎 + 𝑅𝑎 𝐼𝑎
𝑑𝑡
𝑑𝑖𝑎
 𝐿𝑎 = 𝑉𝑎 − 𝑘𝑏 𝑤 − 𝑅𝑎 𝐼𝑎
𝑑𝑡
𝑑𝑖𝑎 𝑉𝑎 −𝑘𝑏 𝑤−𝑅𝑎 𝐼𝑎
 =
𝑑𝑡 𝐿𝑎
Using equation (3) and (4)
𝑑𝑤
 𝑇𝑠 = 𝐽 + 𝐵𝑤
𝑑𝑡
𝑑𝑤 𝐵𝑤−𝑘𝑡 𝑖
 =
𝑑𝑡 𝐽
Parameters
● Armature Resistance, R=1Ω
● Armature Inductance, L=0.023H
● Torque constant, Kt=0.023Nm/A
● Back EMF, Kb=0.023 V.s/rad
● Viscous Coefficient b =0.03 N.s/m
● Moment Of Inertia, J =0.02
● Applied Voltage, v(t)= 12V

i(t) and w(t) are armature current and angular velocity at

time ‘t’ respectively. The motor is initially at rest and
initial armature current is 0A.
We will be calculating the plot of the angular velocity of
this motor using Runge Kutta 4th order method with a
step of 0.0001sec, for 0<t<5 seconds.
RUNGE KUTTA 4
The task is to find value of unknown function y at a given point
x.
The Runge-Kutta method finds approximate value of y for a
given x. First order ordinary differential equations can be solved
by using the Runge Kutta 4th order method.
Runge-Kutta 4th order method is a numerical technique used to
solve ordinary differential equation of the form
𝑑𝑦
= 𝑓(𝑥, 𝑦), 𝑦(0) = 𝑦0
𝑑𝑥
However, Runge-Kutta methods can also be used to solve higher
order ordinary differential equations or coupled (simultaneous)
differential equations.
Matlab Code
clear
tic
w=0;
i=0;
t=0;
h=0.0001;
step=1;
%Parameters
R=1;%Armature Resistance
L=0.023;%Armature Induction
Kt=0.023;%Torque Constant
Kb=0.023;%Back EMF
b=0.03;%Viscous Coefficient
J = 0.02;%Moment Of Inertia
v = @(t) 12*nnz(t);%Applied Voltage
f1 = @(t,w,i) ((Kt*i) - (b * w))/J;%angular
velocity
f2 = @(t,w,i) (-R*i -Kb*w + v(t))/L ;%current
AW=zeros(0,16000);
AC=zeros(0,16000);
fprintf('Initial: w = %5.3f i = %5.3f t =
%5.3f\n',w,i,t);
for t= 0:h:4.99999
AW(step)=w;
AC(step)=i;
k1=h*f1(t,w,i);
l1=h*f2(t,w,i);
k2=h*f1(t+h/2,w+k1/2,i+k1/2);
l2=h*f2(t+h/2,w+l1/2,i+l1/2);
k3=h*f1(t+h/2,w+k2/2,i+k2/2);
l3=h*f2(t+h/2,w+l2/2,i+l2/2);
k4=h*f1(t+h,w+k3,i+k3);
 l4=h*f2(t+h,w+l3,i+l3);
w = w + (k1+2*k2+2*k3+k4)/6;
i = i + (l1+2*l2+2*l3+l4)/6;
step = step +1;
end
t=[0:h:4.99999];
figure(1)
plot(t,AW,'.','Color','black');
title('Angular Velocity Plot')
xlabel('Time')
ylabel('Angular Velocity')
grid on;
figure(2)
plot(t,AC,'.','Color','red');
title('Armature Current Plot')
ylabel('Armature Current')
xlabel('Time')
grid on;
toc
Output
>>Initial: w = 0.000 i = 0.000 t = 0.000
Elapsed time is 4.236974 seconds.
Simulink Model

Figure 1 :Simulink Motor Diagram

Output

Figure 1:Armature Speed Plot Figure 2:Armature Current Plot

Figure 3:Back EMF Figure 4:Torque

Conclusion
 The armature current ‘i’ and angular velocity ‘w’ for
the given DC motor for 0<t<5 has been plotted with
respect to time by Runge Kutta 4th Order Method
using Matlab coding.
 The Simulink Model has also been made and the
graphs (Output) of SIMULINK and MATLAB code
are same.
 We can therefore control DC motor with Armature
Voltage Control.
References
 Sastry, S., 2010. Introductory Methods Of Numerical
Analysis. [Place of publication not identified]:
Prentice-Hall Of India Pv.
 J. J. Popoola and O. J. Oladejo, “Modelling and
Simulation of Armature-Controlled Direct Current
Motor using MATLAB,” SSRG International Journal of
Electrical and Electronics Engineering, vol. 2, Mar.
2015.
 Ecircuitcenter.com. 2020. DC Motor Model. [online]
Available at:
<http://www.ecircuitcenter.com/Circuits/dc_motor_
model/DCmotor_model.htm> [Accessed 25
November 2020].
 In.mathworks.com. 2020. DC Motor Model- MATLAB
& Simulink- Mathworks India. [online] Available at:
<https://in.mathworks.com/help/physmod/sps/ug/e
xample-modeling-a-dc-motor.html> [Accessed 25
November 2020].