EXPERIMENT 1

DYNAMIC MODELLING OF OPEN LOOP SPEED CONTROL OF

DC MOTOR
AIM: TO DESIGN AND SIMULATE THE DYNAMIC MODEL FOR OPEN LOOP SPEED CONTROL OF DC
MOTOR

SOFTWARE REQUIRED: MATLAB/Simulink

THEORITICAL BLOCK DIAGRAM:

FIG. OPEN LOOP BLOCK DIAGRAM OF DC MOTOR

CIRCUIT PARAMETERS:

Armature Resistance (Ra)=1 Ohm

Armature Inductance (La)=0.01 H

Back Emf Constant (Kb)=0.01V/rad/sec

Inertia Constant (J)=0.01Kg-sq.m

Frictional Coefficient (B)=0.1N-m/rad/sec

Voltage (V)=230V

Torque (Tl)=25N-m

MODELLING EQUATIONS:

The open loop modelling equations for dc motor is given below. Where, Va is Voltage, Ra is armature
resistance, La is armature inductance, ia is the armature current, ea is the back emf generated, J is
inertia constant, B is frictional Coefficient, Te is Torque, Tl is load torque, w is rotor speed and Kb is
back emf constant.
CONCLUSION: In conclusion, the open-loop speed control of a DC motor using Simulink effectively
demonstrates how the motor’s speed can be controlled without feedback. By varying the input
voltage, we can observe a change in the motor's speed. However, due to the absence of feedback,
the system cannot automatically adjust for changes in load or other external disturbances, making it
less accurate and responsive to real-world variations. This method is simple and useful for
applications where precision is not a priority, but it highlights the limitations that open-loop control
faces in terms of stability and adaptability. To achieve more accurate speed regulation, a closed-loop
control system with feedback would be necessary, enabling the system to compensate for
disturbances and maintain the desired speed consistently. Overall, this experiment serves as a
foundational approach to understanding motor control, paving the way for more advanced closed-
loop methods.

RESULTS: The open loop speed control model of dc motor is simulated using MATLAB/Simulink.
 EXPERIMENT 2
DYNAMIC MODELLING OF CLOSED LOOP SPEED CONTROL
OF DC MOTOR
AIM: TO DESIGN AND SIMULATE THE DYNAMIC MODEL FOR CLOSED LOOP SPEED CONTROL OF DC
MOTOR

SOFTWARE REQUIRED: MATLAB/Simulink

THEORITICAL BLOCK DIAGRAM:

FIG. CLOSED LOOP BLOCK DIAGRAM OF DC MOTOR

CIRCUIT PARAMETERS:

Armature Resistance (Ra)=1 Ohm

Armature Inductance (La)=0.01 H

Back Emf Constant (Kb)=0.01V/rad/sec

Inertia Constant (J)=0.01Kg-sq.m

Frictional Coefficient (B)=0.1N-m/rad/sec

Voltage (V)=230V

Torque (Tl)=25N-m

CONTROLLER PARAMETERS:

PID 1: P=0.00001; I=0.09; D=0; N=100

PID 2: P=0.00001; I=0; D=0; N=100

MODELLING EQUATIONS:

The modelling equations for dc motor along with PID controller dynamics is given below.
CONCLUSION: In conclusion, the closed-loop speed control of a DC motor using a PID controller
effectively improves motor performance by maintaining the desired speed despite load variations
and disturbances. The PID controller’s proportional, integral, and derivative components work
together to enhance response accuracy and stability. The proportional term provides immediate
correction, the integral term eliminates steady-state error by accounting for past discrepancies, and
the derivative term helps prevent overshoot by predicting future error trends. Overall, the PID-
controlled system offers precise, stable, and efficient speed regulation, making it ideal for
applications that require reliable and consistent motor performance

RESULTS: The closed loop speed control model of dc motor is simulated using MATLAB/Simulink.
 4. Dynamic Modelling of 3 phase Induction motor

AIM:
To simulate mathematical modelling of induction motor using MATLAB
Simulink

APPARATUS:
MATLAB Simulink

CIRCUIT PARAMETERS:
Rs=0.183Ω (Stator resistance)

Rr=0.277Ω (Rotor resistance)

Ls =0.0553H (Stator inductance)

Lr=0.056H (Rotor inductance)

Lm=0.0538H (Magnetizing inductance)

P=4P = 4P=4 (Number of poles)

J=0.0165 Kg . m^2 (Moment of inertia)

Load Torque Tl=15 (any positive value)

Modelling Equations:
The flux linkages equations associated with this circuit can be found as follows:
1. Stator Voltage Equations
Vds = Ids * Rs - ωe * ψqs + d(ψds)/dt
Vqs = Iqs * Rs + ωe * ψds + d(ψqs)/dt
2. Rotor Voltage Equations
Vdr = Idr * Rr - (ωe - ωr) * ψqr + d(ψdr)/dt
Vqr = Iqr * Rr + (ωe - ωr) * ψdr + d(ψqr)/dt
3. Flux Linkages
ψds = Ls * Ids + Lm * Idr
ψqs = Ls * Iqs + Lm * Iqr
ψdr = Lr * Idr + Lm * Ids
ψqr = Lr * Iqr + Lm * Iqs
TORQUE AND POWER EQUATIONS:
1. Mechanical Torque Balance
Tm=Te - Tl = J * d(ω)/dt + B * ω
2. Electromagnetic Torque
Te = (3/2) * (P/2) * (ψqs * Ids - ψds * Iqs)
3. Power
P = (3/2) * (Vds * Ids + Vqs * Iqs)
SIMULINK MODEL:
three phase induction model d-q model

flux linkage calculation of induction motor

1/wb

Rr/XIs
XIX K 2
IğS

¥/r

TI
Waveforms:
Result:

Hence mathematical modelling of 3 phase Induction motor is executed using

MATLAB Simulink.
 E INDUCTION

DevelOp a Milth«<‹ti«ai=0del for V/fconöolled 3-gbaSe Ipdp;;¡ gp

O Ot0

MATLAß Simulink Soßware

ORMULAS:

d
di ’’*’’•*a
d
d

da
dt
 ŞtAțg jyși.st:›l›ù¢:” !‘* '-""”“' * C ’ ’ t*:-0 .3 7 7 ț/yy

I Rotor Œsiźi•»* ° ' •'

tlmber of ppJpq._2

Rctor j»ğyçfat ‹C'-*'"* !** ry’

Stator *’ol ay*--y;y ty y’ ( g ’ ’ ' '’’''’’’t’f’)"(“’’*’’’’Is)'

q y- Sțęy jnput (0,3 t{ 1,60) - (sec,heøz)

Syźž O fi

THEORY:
Synchpnous speed can be controlled by varying the supply freqMegçy voita
indtlcedin the Stätoí in ri « &ywhere & is the air-gap flux aDd f is the SflppJy
8*
frequency. as we can neglect the stator voìtage drop we obtaÍnterryi• i
Olłage
Yí a &f. Thus reducing ltte frequency without chanr›ng the supply
Oltagt; WilJ
lead to an increasein the air-gap flux which is ufldßSÍrä bJe. Hg
nce whenever
frequrncy is varied in order to controï speed, the terminal VOÍta Ø lS
ñÍ5O Varied
so as to maintain the V/fratio constant. Thus by maintaining a C0n5tãnş
the maxİnjum torçue of the motor becomes constant for thanking
speeą.
 ’
p Tfnñ^

Figure 9: Torque-5peed characteristics for V/f Controlled lndUCt:Of’$ ptjgy

As can be seen, when V/f Control iS impl e m e T l t e d,

for vilriO¿jS
fequencies inside the operating region, the maximum torque remains the same
as the speed varies. Thus maintaining the V/f ratio constant helps us to maintain
I a consmnt maximum torque while controlling the speed as per our requirement.
Result: Hence mathematical modelling for V/f controlled 3 phase Induction motor is executed
using MATLAB Simulink.
 EXPERIMENT 7
MATHEMATICAL MODELING OF PERMANET MAGNET
SYNCHRONOUS MOTOR
AIM: TO SIMUALATE PERMANET MAGNET SYNCHRONOUS MOTOR USING MATLAB SIMULINK

SOFTWARE REQUIRED: MATLAB-Simulink

BLOCK DIAGRAM:

FIG 1. Vector control scheme of PMSM

MATHEMATICAL MODEL OF A PMSM:

A. Transformations used in PMSM Modelling

1) Park's Transformation (Original):
The transformation originally proposed by Park uses the reference axes as shown in Figure 2.
In this, fJ is the angle between d-axis of 2-phase reference frames and a-axis of 3-phase reference
frames. The q axis leads the d-axis by 90°. The assumed current directions are as marked above. The
Park's transformation (i.e. transformation from 3-ph to:

2) Modified Parks' Transformation:

In this, fig 1. Is the angle between an axis of 3-phase reference frames and q-axis of 2- phase
reference frames[l]. The q axis leads the d-axis by 90°. The assumed current directions are as marked
in Figure 3. It is important to note that the modified Park's Transformation eliminate the negative signs
from the transformation matrix. Also, the trigonometric projections on q and d axes differ from the
original Park's transform.

Based on the equivalent circuits, the expressions for voltage Vd and Vq can be obtained in terms of id
and iq as below

:
Expression for Electromagnetic Torque Te:
The electromagnetic torque is the most important output variable that determines the
mechanical dynamics of the machine such as the rotor position and speed. Therefore, its importance
cannot be overstated in all the simulation studies

CIRCUIT PARAMETERS:

No Parameter Value VALUES

Poles 4 4
D-axis Inductance (Ldn) 0.2155
Q-axis Inductance (Lqn) 0.2155
Resistance (Rn) 0.0875
Inverter DC Link Voltage 1.5674
Rated Torque (TLn) 1
Reference Speed 0.7268
Inertia (In) 0.0151
Frictional Constant (Bn) 0.0378
Flux Linkages (Lambdan) 1
Stator Frequency(Ws) 376.9911
Base Speed(Wb) 518.5934 rps
Base Power 890W 890 W
Base current 4.65A 4.65 A
Base Torque 2.43 Nm 2.43Nm

CONCLUSION:

The conclusion of this paper highlights the successful development and simulation of a
permanent magnet synchronous motor (PMSM) model using Matlab-Simulink. We have
implemented both the original and modified Park’s transformations, observing that both
yielded satisfactory results in dynamic motor performance. The model accurately represented
PMSM behavior under various loads and control parameters, demonstrating its utility for
further study and real-world applications,
 EXPERIMENT 8
DYNAMIC MODELLING OF BRUSHLESS DC MOTOR
AIM: TO DESIGN AND SIMULATE THE DYNAMIC MODEL OF A BRUSHLESS DC MOTOR

SOFTWARE REQUIRED: MATLAB/Simulink

THEORTICAL CIRCUIT DIAGRAM:

FIG. SCHEMATIC DIAGRAM OF BLDC MOTOR CONTROL SYSTEM

CIRCUIT PARAMETERS:

Vd=485.9 V

Rs=2.875 Ohm

La=0.0085 H

P=4

J=0.0008 Kg-sq.m

MODELLING EQUATIONS:
CONCLUSION: In conclusion, the modelling of a three-phase BLDC motor integrates electrical and
mechanical dynamics to describe the relationship between voltage, current, back EMF, torque, and
speed. The electrical equations govern the behaviour of the motor's windings, with the back EMF
being a key factor influenced by rotor speed and position. The mechanical equation captures the
rotational dynamics, accounting for torque, inertia, and friction. The commutation logic, which
ensures the correct phase energization based on rotor position, is essential for smooth operation.
This comprehensive model is crucial for designing control strategies that regulate motor
performance, ensuring efficient and precise operation in various applications like robotics, electric
vehicles, and industrial systems

RESULT: Dynamic Model of Brushless DC motor is Simulated using MATLAB/Simulink.

 4.ABC TO SYNCHRONOUS REFERENCE FRAME
INDUCTION MACHINE

AIM:
To Convert ABC voltages to synchronous reference frame of induction
motor using MATLAB Simulink
APPARATUS:
MATLAB Simulink
FORMULAS:
Va =Vd sin(𝜔t) + Vq cos(𝜔t) + Vo
Vb =Vd sin(𝜔t− 2𝛱) + Vq cos(𝜔t− 2𝛱) + Vo
3 3

Vc =Vd sin(𝜔t+ 2𝛱) + Vq cos(𝜔t+ 2𝛱) + Vo

3 3

CIRCUIT PARAMETERS:
Supply Voltage Vs = 230/√2 V
Frequency f = 50Hz

Synchronous Speed Ns = 314 rad/s

THEORY:
In Park’s transformation, the time-varying differential equations are
converted into time-invariant differential equations.
The transformation converts ABC variables to new set of variables
called “d-q-o” variables, and the transformation is given by
Amplitude invariant form:

Power invariant form:

 θ is the angle between the a and q axes for the q-axis alignment or the angle between
the a and d axes for the d-axis alignment.

 ω is the rotational speed of the d-q reference frame.

 t is the time, in s, from the initial alignment.

SIMULINK MODEL:

SUBSYSTEM:
GRAPHS:

RESULT:
Hence ABC quantities are converted to dq in synchronous reference
frame.
 6. ABC TO ROTOR REFERENCE FRAME OF
INDUCTION MACHINE

AIM:
To convert ABC voltages to rotor reference frame of induction machine
using MATLAB Simulink
APPARATUS:
MATLAB Simulink
FORMULAS:

Where 𝜔𝑔 = 𝜔𝑟
CIRCUIT PARAMETERS:
Supply Voltage Vs = 230/√2 V
Frequency f = 50Hz
Synchronous Speed Ns = 314 rad/s
Load angle (𝛿)= 1 rad
THEORY:
ABC system to an arbitrary reference frame (often the dq0 frame),
which rotates at an angular velocity 𝜔𝑟 the Clarke and Park
transformations are combined
 a, b, and c are the components of the three-phase system in
the abc reference frame.
 d and q are the components of the two-axis system in the rotating
reference frame.
 0 is the zero component of the two-axis system in the stationary
reference frame.
 𝜃 here is 𝜃 − 𝛿 where 𝛿 is the angle between Rotating magnetic
field and rotor (Load angle)
SIMULINK DIAGRAM:

SUBSYSTEM:
GRAPH:

RESULT:
Hence ABC voltages to rotor reference frame of induction machine is
simulated and observed using MATLAB Simulink.
 5. ABC TO STATIONARY REFERENCE FRAME OF
INDUCTION MACHINE

AIM:
To convert ABC voltages to stationary reference frame of induction
motor using MATLAB Simulink

APPARATUS:
MATLAB Simulink
FORMULAS:

CIRCUIT PARAMETERS:
Supply Voltage Vs = 230/√2 V
Frequency f = 50Hz

Synchronous Speed Ns = 314 rad/s

THEORY:
The Clarke Transform converts the time-domain components of a three-
phase system in an abc reference frame to components in a stationary
ɑβ0 reference frame. This transformation can preserve the active and
reactive powers with the powers of the system in the abc reference frame
by implementing a power invariant version of the Clarke transform. For
a balanced system, the zero component is equal to zero.

Clarkes transform is given by:

(Amplitude – invariant)

(Power – invariant)
Where:
 a, b, and c are the components of the three-phase system in
the abc reference frame.
 α and β are the components of the two-axis system in the stationary
reference frame.
 0 is the zero component of the two-axis system in the stationary
reference frame.
SIMULINK MODEL:

SUBSYTEM:
 Subsystem of ABC voltages from a reference speed and voltage

Subsystem of CDnversian from ABC to Alpha-beta Voltages

Alpha

-((u(1)-u(2)}/1.732) 2
Be\a
GRAPH:

RESULT:
Hence ABC voltages to stationary reference frame of induction motor
are converted and observed using MATLAB Simulink