TOPIC OF THE PRACTICE: Speed control of a direct current motor.

1.- ELECTRICAL OR ELECTRONIC SCHEME:

MOTOR CONTROL.

Fig. 1. Control PID.

This is the circuit used for the P.I.D control of a DC motor. It is the same
using TL082 operational amplifiers as well as potentiometers of different
ranges which help us better calibrate the work of the control for the
motor, además de esto, este circuito ira acoplado al circuito de potencia, y será
fed back through the tachometer.

CIRCUITO DE POTENCIA.
 Fig. 2. Power circuit.

2.- MARCO TEORICO:

Basic Terms.

For the development of the work, it is necessary to understand certain basic concepts such as:

Señal de salida:es la variable que se desea controlar (en nuestro caso la velocidad del
motor.). También se denomina variable controlada.

Reference signal: it is the value that is desired for the output signal to reach.

Error: it is the difference between the reference signal and the actual output signal.

Control signal: it is the signal produced by the controller to modify the variable.
controlada de tal forma que se disminuya, o elimine, el error.

Analog signal: it is a continuous signal over time.

Planta:es el elemento físico que se desea controlar. En nuestro caso la planta es el motor
de corriente continua que vamos a controlar.

Process: operation that leads to a determined result.

Sistema:consiste en un conjunto de elementos que actúan coordinadamente para realizar

un objetivo determinado.

Disturbance: it is a signal that tends to affect the output of the system, deviating it from
desired value, in our case what is sought is to give stability to the system for which
we impose the P.I.D. system.
 Closed-loop control system: It is one in which there is continuous feedback.
monitoring the output signal to compare it with the reference signal and calculate the
señal de error, la cual a su vez es aplicada al controlador para generar la señal de control y
try to bring the output signal to the desired value.

También es llamado control realimentado, en nuestro proyecto estamos realimentando la

signal through another motor that in this case will act as a generator.

3.- OBJETIVOS DE LA PRÁCTICA:

Through this practice, the aim is to achieve proper control of a motor.

through the P.I.D system which must be established through calculations for
obtain the correct parameters and thus achieve a balanced system.

The three components of a PID controller are its Proportional part, action
Integral y acciónDerivativa. El peso de la influencia que cada una de estas partes
it has in the final sum, given by the proportional constant, the integral time
and the derivative time, respectively, so it will be sought to achieve that the
bucle de control corrija eficazmente y en el mínimo tiempo posible los efectos de
the disturbances.

- Al final de esta practica estaremos en capacidad de obtener valores óptimos para el

establecimiento del sistema, el mismo que debe tener un tiempo de establecimiento de al
a minimum of 2 seconds and a maximum shock of less than or equal to 5% which is intended to be achieved
mediante una correcta calibración de los elementos de control y las consideraciones de
engine operation in its linear zone.

4.- LISTA DE MATERIALES:

Control P.I.D:

-9 1KΩ resistors.
-4 Resistors of 10 KΩ.
-1 Potenciómetro de 10 KΩ.
-1 Potenciómetro de 5 KΩ.
-1 Potentiometer of 1 KΩ.
-1 50 KΩ potentiometer.
-1 Potentiometer of 53 KΩ.
-1 Resistencia de 1 KΩ.
-1 Resistance of 4.7 KΩ.
1 Capacitor of 22µF.
1 Capacitor of 4.7 µF.
- 4 Amplificadores operacionales TL082.
- 1 Fuente de voltaje de +12v, -12v.

Circuito de Potencia:

- 1 Transformador 120/24v
 1 Transistor 2N3904
- 1 Transistor 2N3906.
1 Pulse transformer.
- 1 UJT 2646.
1 SCR BT151.
- 2 resistors of 2.2KΩ.
-1 Resistance of 3.3 KΩ.
-1 Resistance of 470 KΩ.
-1 Resistencia de 22 Ω/5W.
1 Capacitor of 0.47 µF/250v
1 Diode 6A.
- 2 Puente de Greatz de 10A, 1A
2 fuses of 8A.

5.- TECHNICAL SPECIFICATIONS OF THE ELEMENTS USED:

Para la realización de esta práctica se utilizaron los siguientes elementos:

TL082 Operational Amplifier.

The operating ranges of these devices cover ranges from 0°C to 70°C, for
the operation from -40°C to 85°C under normal conditions and values from -40°C to 125°C
for special and industrial-type applications.

Las características generales del amplificador operacional TL082 son las siguientes:
- Modo de ancho común y comparación.
Differential voltage range.
- Entrada baja y de desplazamiento de corriente.
- Rendimiento de protección de cortocircuito.
High input impedance of the J-Fet to the phase.
- La compensación de frecuencia interior.
Free operation latch.
Verification time at high 16V/ms.

UJT 2N 2646.
The UJT transistor or unijunction transistor is a triggering device that consists of
una sola unión PN.
El UJT se utiliza generalmente para generar señales de disparo (como por ejemplo en los
SCR).
The UJT has three terminals which are known as emitter E, base 1 (B1), and base.
2 (B2).
Between terminals B1 and B2, the mono-junction has the characteristics of a resistor.
ordinaria, la resistencia entre bases RBB tiene valores en el rango de 4.7 y 9.1 KΩ.
The trigger voltage VB1 must be designed to be large enough to activate the
SCR.

SCR BT151.
 The SCR BT151 is a thyristor encapsulated in a plastic package, intended for use in
applications that require high bidirectional block voltage capacity as well as the
high thermal cycling performance.
Typical applications include motor control, heating of industrial lighting
y doméstica así como cambio de valores de la estática.

6.- SIMULATION:
 Utilizando la aplicación de Matlab “Simulink” procedemos a obtener los valores de Kp,
Ki, y Kd mediante la variación de sus valores y visualizando su establecimiento en el
time that we propose and is 2 seconds, in this way we proceed to locate
a block diagram with the previously set constants and applying the function of
the following scheme is for transfer:

Fig. 3. Simulation. As can be visualized, the values of Kp, Ki, Kd obtained allow
que el sistema se estabilice en un tiempo aproximado de 2seg, y en una velocidad de 1500
r.p.m.

Fig. 4. System response with PID control.

VARIACION DE LAS CONSTANTES

 Increasing the Ki of the PID control, we observe that there is a spike at startup
of the motor in response to the unit step function:

By increasing the Kd of the PID control, we observe that in addition to a jump occurring
al arranque del motor, el tiempo de estabilización aumenta cerca de lo 20 segundos como
response to the unit step function:

Disminuyendo el Kp del control PID, observamos que se presentara una respuesta

subamortigued as a response to the unit step function:
 Through the following Matlab commands, one can observe in a concise manner
los lugares geometricos del sistema asi como la respuesta al escalon unitario a continuacion se
these commands are shown along with their respective visualization on the Matlab workspace screen.

>> G=tf([1.479],[0.375*0.153 (0.375*0.08+13*0.153) (13*0.08+0.75*1.479)])

Transfer function:
1.479
-----------------------------------
0.05737 s^2 + 2.019 s + 2.149

>> sys=feedback(G,1)

Transfer function:

1.479
-----------------------------------
0.05737 s^2 + 2.019 s + 3.628

>> step(sys);grid
To obtain the geometric locus of the roots, the following command is used after
the previously used ones in the following way:

>> rlocus(G);grid
7.- CALCULOS:
First, a transfer function is established, which will be proposed.
taking into account the engine parameters which in this case are the following:

La (Inductance) 0.375 0.375mH

RaResistance 13
B (Damping coefficient of the mechanical system) 0.08Nms
kb Electromotive force coefficient 0.75 Nm/A
ki (1.479Nm/A)
J (Moment of inertia of the motor) 0.153Kg2/s2

Therefore, the transfer function is established as:

(s) kI
a(s)L a Js  (L aB  RaJ ) s  (R aB kb ki)
2

(s) 1.479
a 0.05737s  2.0190s 2.14925
2

Ahora se procede a calcular los elementos de los tres tipos de control de la siguiente
way

Kp = R2 / R1 Proporcional
Ki = 1 / (Ri * Ci)Integral
Kd=RdCd Derivativo

R2
Kp
R1
5K
2.5K donde R1 2K
R1
1
Who
Ri Yes
1
1.479 therefore Ri 30733.29K
Ri 22 F
Ri 30K
Kd Rd  Cd
0.01 Rd 1 F donde Rd 10K
8. EXPLICACION DEL FUNCIONAMIENTO DE LA PRÁCTICA:

Control Circuit:

In a more structured way, the development of the practice is based on the correct
use of the P.I.D controller, for which we start from knowledge obtained in class in the
that refers to motor control, once these concepts are present a
general visualization of the practice goal in order to develop it in an organized manner
and consistent in addition to these aspects we must consider that the calculations developed are
the basis for the practical part because it will only operate governed by the various measurements and
pruebas obtenidas del motor.

PD Controller. The primary design objective of this PD controller involves the

locate the limit frequency of the controller in such a way that there is an improvement in the margin of
Make a new gain crossover frequency.

1. Improves damping and reduces the maximum jolt.

2. Reduce the upload time and setup time.
3. Incrementa el ancho de banda.
4. Improve the profit margin, phase margin, and resonance peak.
5. Possible attenuation of noise at high frequencies.
6. It behaves like a high-pass filter.

K Ds
1 ,KP 1.
KP

Controlador [Link] las ventajas y desventajas de este tipo de controlador se

they find the following:

1. Improves damping and reduces maximum shock.

2. Increase the upload time.
3. Decrease the bandwidth.
4. Mejora el margen de ganancia, margen de fase y el pico de resonancia.
5. Filters out high-frequency noise.
6. Possible requirement for a high capacitance value in the implementation and a
poco más complicado en obtenerlo si se compara con el controlador PD.
It acts as a low-pass filter.
KI
Gc (s) KP 
s
For this type of P.I.D controller, three main elements are used in it.
circuito los cuales son:

1). A sensor that determines the state of the system, in this case, a direct current motor.
continue that will make the tachometer work this device will be connected to the
sistemas de manera que se de una retroalimentación de este modo se podrá variar la
motor speed.

A controller that generates the signal that governs the actuator.

 3). Un actuador, que modifique al sistema de manera controlada (en este caso un motor
C.C).

The tachometer provides aanalog or digital signalto the controller, which

represents the current point in which the process or system is located. The signal can
representar ese valor en electric tensionelectric current intensityor frequency.
In this last case, the signal is ofcorriente alterna, unlike the previous two, which
his sonon direct currentin our practice, the voltage received from the tachometer is
0-5V approximately.

El controlador resta la señal de punto actual a la señal de punto de consigna,

thus obtaining the error signal, which determines at each moment the difference that exists
entre el valor deseado (consigna) y el valor medido. La señal de error es utilizada por
each of the 3 components of the PID controller.

The 3 summed signals make up the output signal that the controller will
used to control the actuator. The resulting signal from the sum of these three is called
variable manipulada y no se aplica directamente sobre el actuador, si no que debe ser
transformed to be compatible with the engine we use.

Power Circuit:

The trigger delay angle is determined by adjusting the resistance of a

potenciómetro en nuestro caso para la carga de un motor, un voltaje proporcional a la
motor shaft speed can be used as a feedback signal to control the
ángulo de retardo de disparo del SCR y por tanto la velocidad del motor. El UJT es
compatible con la situación de realimentación resistiva.

An isolation transformer is used, which has a 1:1 ratio.

vueltas, el mismo es necesario para aislar eléctricamente el circuito de control con el de
power. In this case, the isolation transformer contains components of
suppression of transient signals.

En el caso de contener tales componentes, las señales transitorias de alta

frecuencia que aparezcan en el primario no se acoplan al devanado secundario por lo que
se mantiene el circuito secundario libre de ruido.

For our circuit, we use a UJT as a triggering device for the SCR.
The UJT produces a pulse-type output, which is effective for ensuring the ignition of an SCR.
without forcing the charge dissipation capacity of the SCR gate.

El punto de disparo del UJT es esencialmente estable sobre un rango de

temperatura, puede hacerse más estable con poco esfuerzo, esto anula la inestabilidad
thermal of the SCR.
9.- MEDICIONES REALIZADAS.

Circuito electrónico PID y circuito de potencia armado

When initially testing the circuit, we encountered the problem of a phase shift in the signal.
towards the load, as well as a noise signal as shown in the figure. These problems are
they solved it by reviewing the power circuit making the following changes: the value was changed
del capacitor de la base del UJT a 1uF; se coloco un diodo en antiparalelo al transformador de
pulsos; y se variaron levemente el valor de las resistencias (circuito de potencia) a fin de que se
reduce the problem.
 Ahora, en el momento en que se acopla el control PID al circuito de potencia que
comanda el motor, la forma de onda que se presenta al incrementar el voltaje de referencia en el
control y por consiguiente la velocidad del motor es la siguiente.

By regulating the speed of the motor, the following waveform is obtained, in which
we can observe that while we vary the speed of the motor, the PID control acts on the
signal towards the engine, this is visualized in the lower part of the wave.
Al aumentar la carga en le motor vemos que el voltaje aumenta en la carga para compensar la
velocidad del motor.

10.- CONCLUSIONES:

Mediante el desarrollo de esta práctica se pudieron obtener las siguientes

conclusiones:

A correct control of a DC motor was achieved through the P.I.D. system, which was
established through calculations and simulations that helped to obtain the parameters
correct and thus achieve a balanced system with a great response speed
alrededor de 2 segundos.

A power circuit was created with the required protections; these

protecciones tuvieron una gran influencia dentro del circuito, sobre todo fueron
indispensables para la puesta en marcha del motor, ya que ayudaron a corregir ciertas
jumps or bursts of speed that occurred in the engine.

When there is a load change, the controller measures the feedback error and
Respond with the necessary speed to prevent the error from increasing.

Design parameters are generally totally rigid and based on objectives.

design criteria, which are often not met or require
soluciones extremadamente complejas, por lo tanto se debe saber y tener muy en cuenta
between what is desired to be done as well as considering the available elements in the market
at the time of performing the calculations.

11.- COMENTARIOS:

Through this practice, a PID control was achieved, which was obtained
finalmente al realizar varias pruebas tanto en la parte de control como en la de potencia
incrementando la carga en el motor para lograr estabilizar el sistema y obtener las
respuestas esperadas.