UNIVERSITY OF GONDAR

INSTITUTE OF TECHNOLOGY

DEPARTMENT OF ELECTRICAL AND COMPUTER

ENGINEERING

FOCUS AREA: INDUSTRIAL CONTROL ENGINEERING

TITLE:DESIGN AND SIMULATION OF A WIRELESS DIRECT

CURRENT MOTOR SPEED AND DIRECTION CONTROL
USING ARDUINO UNO

TARGET GROUP: 4th YEAR

SUBMITTED BY:
1. ZEWDALEM ABEBAW 5101/08
2. HABTAMU ANILEY 4532/08
3. GETAHUN MIHRET 4508/08

Advisor Name: Mr. Mebtu F.

A project report Submitted to the Electrical and Computer Engineering department in institute of
Technology of University of Gondar in Partial Fulfilment of the Requirements for the semester
Project (ECEG4358) in Electrical and Computer Engineering (Industrial Control Engineering).

June, 2019 G.C

Gondar, Ethiopia
 UNIVERSITY OF GONDAR

INSTITUTE OF TECHNOLOGY

DEPARTMENT OF ELECTRICAL AND COMPUTER

ENGINEERING

TITLE: DESIGN AND SIMULATION OF A WIRELESS DIRECT

CURRENT MOTOR SPEED AND DIRECTION CONTROL
USING ARDUINO UNO
SUBMITTED BY:
1. ZEWDALEM ABEBAW 5101/08
2. HABTAMU ANILEY 4532/08
3. GETAHUN MIHRET 4508/08
Approval by Committee:
The undersigned certify that the above candidate/s has fulfilled the condition of the project paper
in partial fulfilment of the semester project (ECEG4358).

_________________ _________________ ___________

Dept. Head Signature Date

_________________ ____ ______

Advisor Signature Date

________________ ___________
Examiner Signature Date
Design and simulation of Wireless Direct Current Motor Speed and Direction Control 2011 E.c

Declaration
We, the undersigned, declare that this project report shall be our original work, and the project
work has not been presented for a degree in this or any other universities and all sources of
materials that will be used for the project work will have been fully acknowledged.
Name Signature
1. Zewdalem Abebaw ______
2. Habtamu Aniley ______
3. Getahun Mihret ______

Date of submission: _______

This project has been submitted for examination with my approval as a university advisor.

Project Advisor: Signature

Mr. Mebtu F. ______

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Acknowledgments
We are greatly indebted to the Almighty GOD on his mercy and blessing for making this project
successful. Then we would like to express our deepest gratitude and appreciation to all those who
gave us the possibility to complete this project. A special thanks to our advisor Mr. Mebtu.F, for
his follow up, advice, comment and stimulating suggestion, helped us to coordinate our project
especially in writing this semester project. And for most we would like to take this opportunity to
thank all our lecturers who have helped directly or indirectly for our project. At last we express
our thanks to our friends for their cooperation in sharing their knowledge and support.

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Abstract
Nowadays, there are lots of good-quality motor speed and direction controls on the market.
However, their costs are relatively high. A speed control with both low cost and good performance
will be highly marketable. On the other hand, the wireless connectivity has a nature of low cost
and less environmental limitations. Combining these ideas together, it could be come up with this
project. Wireless direct current motor speed and direction control is a very interesting application
which contains the input and output devices like keypad, Arduino uno, liquid crystal display, for
the sake accepting inputs from the keypad and creating of a visual indication via the liquid crystal
display. The speed of direct current motor can be varied from a remote place without any wire
connection. In order to vary the speed of direct current motor the pulse width modulation technique
is used. This project is versatile that can control direct current devices which draw up to a few
amps of current. The transmitter microcontroller sends a command to the receiver to control both
the speed and direction. The generated signal will pass through transmitter ZigBee protocol for
transmitting the signal. Transmitted signal, received and recovered using receiver ZigBee protocol.
Then, the signal will inter into receiver microcontroller which leads the signal into valuable voltage
signals. The motor driver is responsible to drive the motor as oriented direction and speed.
Generally, even if there exists a number of controlling systems, the wireless system is preferred
because of its less complexity, low cost, low power consumption and reliability.

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TABLE OF CONTENTS Page

Declaration ........................................................................................................... ii

Acknowledgments ............................................................................................... iii

Abstract ............................................................................................................... iv

List of abbreviations ......................................................................................... viii

List of acronyms .................................................................................................. ix

List of figures ....................................................................................................... x

List of tables ........................................................................................................ xi

CHAPTER ONE .................................................................................................. 1

INTRODUCTION ............................................................................................... 1

1.1 Background ................................................................................................. 1

1.2 Statement of the problem ........................................................................... 2

1.3 Objectives of the project ............................................................................. 2

1.3.1 General objective .................................................................................. 2

1.3.2 Specific objectives ................................................................................. 2

1.4 Significance of the project .......................................................................... 3

1.5 Methodology ................................................................................................ 3

1.6 Scope of the project ..................................................................................... 4

1.7 Limitation of the project ............................................................................. 4

1.8 Outline of the paper .................................................................................... 5

CHAPTER TWO ................................................................................................. 6

LITERATURE REVIEW .................................................................................... 6

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2.1 Introduction ................................................................................................ 6

2.2 Related works .............................................................................................. 6

CHAPTER THREE ............................................................................................. 8

CONCEPTUAL FRAMEWORK OF THE STUDY .......................................... 8

3.1 Overview ...................................................................................................... 8

3.2 System model ............................................................................................... 8

3.3 DC motor ....................................................................................................10

3.3.1 Theory of DC motor and controlling ..................................................10

3.4 Transformer ...............................................................................................11

3.5 Bridge rectifier ...........................................................................................11

3.6 Capacitor ....................................................................................................11

3.7 Voltage regulator .......................................................................................11

3.8 Virtual serial port driver ...........................................................................12

3.9 Arduino uno R3 ..........................................................................................13

3.9.1 Advantages of Arduino uno .................................................................14

3.10 ZigBee module ..........................................................................................15

3.10.1 Operation of xBee ..............................................................................16

3.11 Proteus 8 professional software ...............................................................17

3.12.1 Liquid crystal display pin description ..............................................18

3.13 DC motor driver .......................................................................................20

3.14 Keypad ......................................................................................................21

3.14.1 How the keypad works .......................................................................21

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CHAPTER FOUR...............................................................................................22

SYSTEM DESIGN AND ANALYSIS ................................................................22

4.1 Power supply design ..................................................................................22

4.2 Dc motor mathematical model and the control theory ............................24

4.3 Flow chart description ...............................................................................27

CHAPTER FIVE ................................................................................................33

RESULT AND DISCUSSION ............................................................................33

5.1 Result ..........................................................................................................33

5.2 Discussion ...................................................................................................36

CHAPTER SIX ...................................................................................................37

CONCLUSION AND RECOMMENDATION .................................................37

6.1 Conclusion ..................................................................................................37

6.2 Recommendation .......................................................................................38

References ...........................................................................................................39

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List of abbreviations
AC: Alternating Current .......................................................................................................... 1, 7
AVR: Automatic Voltage Regulator .......................................................................................... 10
DC: Direct Current ................................................................................................... 1,2,5,7,15,32
EDA: Electronic Design Automation......................................................................................... 12
IC: Integrated Chip.............................................................................................................. 14, 17
IDE: Integrated Development Environment ............................................................................... 19
LCD: Liquid Crystal Display .................................................................................................... 12
PWM: Pulse Width Modulation .................................................................................... 2, 4, 5, 24
RF: Radio Frequency ..................................................................................................................5
USART: Universal Synchronous Asynchronous Receiver and Transmitter ................................ 16
USB: Universal Serial Bus ..........................................................................................................9
VSPD: Virtual Serial Port Driver .......................................................................................... 9, 17

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List of acronyms
COM: Communication ................................................................................................................9
PIN: Port Input .......................................................................................................................... 13
RAM: Random Access Memory................................................................................................ 10

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List of figures
Figure 1.1: Methodology of the project ....................................................................................4
Figure 3.1: Block diagram of the overall system ......................................................................8
Figure 3.2: DC Motor [6] ........................................................................................................ 10
Figure 3.3: LM7805 Pin diagram [8] ...................................................................................... 12
Figure 3.4: Arduino Uno R3 [9] .............................................................................................. 13
Figure 3.5: xBee Module ......................................................................................................... 16
Figure 3.6: Liquid Crystal Display ......................................................................................... 18
Figure 3.7: L298 DC motor driver.......................................................................................... 20
Figure 3.8: Keypad [11] .......................................................................................................... 21
Figure 4.1: Power system design ............................................................................................. 22
Figure 4.2: The Electrical Circuit of Armature and Rotor [14]. ........................................... 24
Figure 4.3: Schematic diagram of power supply .................................................................... 27
Figure 4.4: System flow chart ................................................................................................. 28
Figure 4.5: Arduino IDE Environment .................................................................................. 29
Figure 4.6: Schematic diagram of Arduino uno interfaced with LCD .................................. 30
Figure 4.7: Schematic diagram of Arduino uno interfaced with the motor driver............... 30
Figure 4.8: Complete system design for the receiver section ................................................. 31
Figure 4.9: Complete system design for the transmitter section ........................................... 31
Figure 5.1: Sampled output of the software system ............................................................... 33
Figure 5.2: Pulse width modulation when the speed of the motor decrease by 25% ............ 34
Figure 5.3: Pulse width modulation when the speed of the motor decrease by 50% ............ 35
Figure 5.4: Pulse width modulation when the speed of the motor decrease by 75% ............ 35

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List of tables
Table 3.1: LCD pin description .............................................................................................. 19

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 CHAPTER ONE
INTRODUCTION
1.1 Background
Control systems are an integral part of today’s society. Motors have a wide range of applications
in places where constant speed is to be maintained at varying loads. Conveyor belts, elevators,
cranes, ski lifts, extruders, mixers, sewing machines are few such applications where DC motors
are used. So, controlling the speed of a DC motor is a purposeful and required place to work on.

In a modern industrial situation, DC motor is widely used which is due to the low initial cost,
excellent drive performance, low maintenance and the noise limit. As the electronic technology
develops rapidly, it provides a wide scope of applications of high-performance DC motor drives
in areas such as rolling mills, electric vehicle tractions, electric trains, electric bicycles, guided
vehicles, robotic manipulators, and home electrical appliances. The advantages of using Dc motors
over conventionally used AC motors are, DC motors have better overload and peak voltage
characteristics, DC motors have higher controller efficiency and also DC motor has typical 98%
efficiency[5].
The wireless remote controller is simple to start, stop, accelerate and decelerate. The source of the
speed control is a 12 V battery and current control is over a range of 0 to 50 A. The controller has
a high efficiency for motor loads in the range of 50 to 150 W. It should deliver the nominal power
continuously and be able to tolerate slight overloading for a short period of time. For strong
overloading, it should protect the motor from being damaged for a few seconds, then shut down
the motor and request a reset from the user simultaneously wireless communication is the
transmission of information without using of electrical conductors.

1
Design and simulation of Wireless Direct Current Motor Speed and Direction Control 2011 E.c

1.2 Statement of the problem

Since mostly the speed of a motor is controlled through the use of rheostat and potentiometer, thus
controlling the speed in such away incurs power loss due to the potentiometer or Rheostat as a
result it decreases the efficiency and the lifespan of the motor. But this project could address such
problems as far as it’s a wireless system, since wireless method of controlling couldn’t generate
such a problem as signals are transmitted via electromagnetic wave. Moreover, controlling of a
motor via wired mechanism is not an effective system and are not good in quality so this project
could develop a low cost and highly marketable system together with a good performance.

1.3 Objectives of the project

1.3.1 General objective
The general objective of this project is to design and simulate a wireless DC motor speed and
direction control.

1.3.2 Specific objectives

To construct the hardware circuit diagrams of the system using proteus.
To design a power circuit that could be supplied to the microcontroller and the LCD.
To model a DC motor for the sake of determining its range of speed.
To develop a program for both the remote controller/transmitter section/master Arduino
uno and the receiver section/the slave Arduino uno.

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1.4 Significance of the project

➢ Increase the efficiency and reliability of the motor.

➢ Minimize the power consumption.
➢ Decrease the wiring losses incurred from the Rheostat during the control of the speed.
➢ Decrease human effort for the control of speed and direction as far it’s a wireless system
with remote controlling mechanism.
➢ The system has a higher probability from not causing harm as long as the system is
wireless system.
➢ Minimize time wastage in every activity.
➢ Achieves a low costly system.

1.5 Methodology
The methodology that have been followed during the development of this project starts from
project title selection up to the complete project submission is presented in this section. First,
appropriately select the project title. After a topic has been selected, additional discussions were
done in order to understand the concept and objective of the project. Then, different literature
review was revised relating to our project and the background of this project was studied by
referring to various sources such as journals, articles, reference books, internet, lecture notes and
data sheets.
After that select the proper materials which is used in our project.
➢ Select types of dc motor within its special specifications like Hp, voltage, frequency and
phase.
➢ Select types of controlling mechanisms.
After selecting those materials, we have been designing full system circuits and now the system is
ready for simulation and experimental testing. The simulation testing process will keep repeating
until full functional test and reliability test pass. The final work of our project is to make a system
for controlling the speed and position of DC Motor.

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Observation

Problem
Identification

Literature Review

Data collection

System model design

documentation

Figure 1.1: Methodology of the project

1.6 Scope of the project

➢ Can be used in industries where the conveyor-based systems are needed.

➢ Employing of a 12V DC motor for the speed and direction control.

➢ It works in an environment of having a temperature range of 32 ° F to 131 ° F.

➢ Controlling the speed of the motor via PWM signal through remotely operated commands.

1.7 Limitation of the project

As we have seen throughout the development of this study, the system must be suffered from the
following limitations/challenges.

➢ The remote controller works for only a distance range of 10m-100m. It doesn’t
work above this range of distance.

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1.8 Outline of the paper

This semester project report is composed of six chapters. It covers introduction, literature review,
system components and materials used, system design, test result and discussion, conclusion and
recommendation and reference.
Chapter 1: (Introduction) explains the brief introduction of the focus study of the project and the
methodology that we had followed while dealing with the project.
Chapter 2: (Literature review) discusses the basic theories applicable for this project. Discussion
on these theories is based on the background studies or literature reviews. It covers mainly on
concept of DC motor speed and direction control.
Chapter 3: (System components and materials used) describes the general structure and operations
of the system, including all assumptions and considerations for the system ‘s operation.
Chapter 4: (Project design) which covers the detail design and analysis of all parametric and the
overall integrated system or the main projects simulation results of the wireless DC motor speed
and direction control.
Chapter 5: (Result and Discussion) gives every detail of the results based on the inputs given from
the transmitter commands and presents the overall discussion on the results obtained and
comparison can be done.
Chapter 6: (Conclusion and Recommendation) the overall conclusion of development of the
project is also enclosed together with suggestion and recommendation for future work or
enhancement.

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CHAPTER TWO
LITERATURE REVIEW
2.1 Introduction
Technology leads as to on go advanced controlling system in the industry. Consequently, there
exist different kind of improvement for machines inside the industry based on the project owner
interest and the market need. From those machines getting improvement DC motors can be
counted. As the essentiality of DC motor different kind of improvement has been done on it. The
major type one is the speed and direction controlling system. There are a number of projects that
deals with DC motor speed and direction control.

2.2 Related works

PWM direct transmission through RF for motor speed and direction controlling February 2014 by
Umar Farooq and Muhammad Ihtesham Adil and Syed Ahsan Ali [1]. The goals of this project are
to control the direction and speed of DC motor. It uses friendly network for the wireless
communication. It is quite good in its application area like toy and industry. Not only had this, but
also there exist a number of wireless based motor controlling. This makes the market to get
controlling system with low cost. As a result, the initial cost of DC motor-based industries or goods
will have smaller cost.
➢ It has a more reliable, too low cost and power consumption success in its design metrices.
Wireless DC motor speed control via PWM direction transmission through RF for motor design
proposal 2013 spring by P. S Joshi, Prof A. M. Jain [2]. This project deals with high-performance
low-cost, low-loss wireless DC motor speed control unit. The wireless remote controller is simple
to start, stop, accelerate and decelerate. The source of the speed control is a 12 V battery and
control currents over a range of 0 to 50 A. The controller has a high efficiency for motor loads in
the range of 50 to 150 W. It is easy and low-cost type of controlling. Here we only transfer the
technology into the Zigbee based technology.

Direction and speed control of DC motor Norfadilah Binti Zukeflit University Malaysia Pahang
May 2012 [3]. The goals of this project are to control the direction and speed of DC motor. This
project consist of circuits for transmitter and another circuit is for the receiver. These can be
counted as appreciate works on DC motor controlling system.

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There is also such kind of controlling for induction motor wireless speed control of an Induction motor
using PWM technique with GSM by P.S. Joshi, Prof.A.M. Jain on May. - Jun. 2013 which has been
published on IOSR Journal of Electrical and Electronics Engineering which presented design and
analysis of a three-phase induction motor drive using IGBT’s at the inverter power stage with volts
hertz control (V/F) in closed loop using a microcontroller.
➢ Now a day’s induction motor loss their place from industries by replaced with DC motors,
the significance of project with induction motor also loss a value yet the project has good
quality of controlling.
From the above related works, it can be seen the following features like [4]
➢ Data rate of 150kbps
➢ Range of 35m
➢ Battery Life 6 to 12 months
➢ Frequency of 850-930MHz
➢ Operating environment of 32 ° F to 112 ° F
➢ It has a compatible success in its design metrices
As far as this system is Zigbee based technology it could have the following better features
than the RF transmission method of controlling DC motor [4].
➢ Data rate of 250kbps
➢ Range of 10m-100m
➢ Battery Life greater than a year
➢ Frequency of 3KHz-300GHz
➢ Operating environment of 32 ° F to 131 ° F
These and similar works inspire us and we try to develop such control system for our country
industries in order to increase their production and efficiency. Since increasing the efficiency of
the motor save money, energy and increase productivity.

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CHAPTER THREE
CONCEPTUAL FRAMEWORK OF THE STUDY
3.1 Overview
In order to achieve the objectives of the project of Arduino based wireless DC motor speed and
direction control, several hardware components and software tools are employed and used after
they have been selected among other alternatives due to some reasons and circumstances.
This chapter talks about all these tools and materials mentioning brief description of the main
component features that may be the primary reason behind the selection of this component or tool.

3.2 System model

Our methods of work are organized and accomplished through a sequence of stages. Then we have
made the general block diagram for our system that enables as to easily analyze each components
of the system as shown in the following figurative expression. We will carefully analyze each parts
of the block diagram shown below and do for their type identification and specification. After
identifying such specification and working principles, we finally designed the controlling part of
the general block diagram, for time limiting us from doing further.

Keypad
Computer
Program-1 Arduino
Uno-1
Zigbee
DC Power Module-1
Supply

LCD

Arduino
Computer Driver Motor
Uno-2
Program-2
Zigbee
Module-2

Figure 3.1: Block diagram of the overall system

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Transmitter is developed using Arduino Uno, Zigbee and Keypad. The seven keys are connected
to the Arduino pins. By default, when the keys are up at that time the values of port pins are 1.

The ZigBee is connected at USART (universal synchronous asynchronous receiver and

transmitter) pins of Arduino Uno. When any key is pressed the Arduino Uno read the pin value
and send the related characters to the receiver side through ZigBee.

In the receiver side the Arduino Uno will read the messages coming from the transmitter and
accordingly will control the DC motor. The Dc-motor driver is used to driver the DC motor.

The Arduino Uno is connected at the ZigBee. The DC motor driver IC L293D. The DC motor
speed will be controlled with pulse width modulation techniques.
List of the materials that are required for the full design of our project are:
❖ DC motor
❖ Power supply unit
❖ Transformer
❖ Bridge rectifier
❖ Capacitor
❖ Voltage regulator
❖ Virtual serial port driver
❖ Arduino uno R3
❖ ZigBee module
❖ Proteus 8 professional software
❖ Liquid crystal display
❖ DC motor driver
❖ Keypad

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3.3 DC motor
3.3.1 Theory of DC motor and controlling
The device that converts electrical energy into mechanical energy is called as a motor. The motor
that utilizes a DC supply to produce mechanical output is DC motor. The advantages of using these
types of motors over conventionally used AC motors are that, DC motors have higher controller
efficiency, DC motors have typically 98% efficiency [5],DC motors have better overload and peak
voltage characteristics and also the main advantage of using these DC motors is that the speed
torque characteristics can be varied to almost any useful form. As a result of all these advantages
these motors have a wide range of applications in places where constant speed is to be maintained
at varying loads. Conveyor belts, elevators, cranes, ski lifts, extruders, mixers, sewing machines
are few such applications where DC motors are used. So, controlling the speed of a DC motor is a
purposeful and required place to work on. When electrical current is passing through coils that are
arranged within a fixed magnetic field (Stator).

The current generates magnetic fields in the coils. Which in turns causes the coil assembly (Rotor)
to rotate, as each coil is pushed away from the like-pole and attracted to the unlike-pole of the
stator. Reversing the direction of current flow in the coil translates to an inversion in the direction
of the rotor’s magnetic field, which in turn applies an inverted torque of each side of the coil
resulting in a reverse direction in the rotation.

Figure 3.2: DC Motor [6]

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Specifications of this DC motor are [7]

➢ Nominal voltage: 12VDC.
➢ Voltage range: 1 - 12VDC.
➢ Current at maximum efficiency: 2.52A.
➢ Speed at maximum efficiency: 12,610 RPM.
➢ Torque at maximum efficiency: 93.7 g-cm.
➢ Internal armature resistance :2 Ω
➢ Flux per pole:0.0005wb

3.4 Transformer
Transformer is electromagnetic device that transforms electrical energy from one circuit to another
through inductively coupled conductors. A varying current in the primary side creates varying
magnetic flux in the transformer’s core and thus a varying magnetic field through the secondary
winding. Step down transformer is used while design the power supply to our system, since the
microelectronic circuit need only 5 V.

3.5 Bridge rectifier

The input from step down transformer is 9 volts AC is converted to DC voltage using a 4 diodes
bridge rectifier circuit. 1N4007 rectifier diodes have been used. These diodes have a voltage drop
of 0.9 volts across them and maximum rating 5 V/ 1 A. It also gives better rectified output
compared to other rectifier diodes.

3.6 Capacitor
Capacitors are used as a filtering component. They filter out the AC ripple present in the output
of full wave rectifier.

3.7 Voltage regulator

Since we require a constant 5 V DC supply voltage for the entire circuitry, we have to regulate the
output from the bridge rectifier circuit. So, we use LM7805 1A regulator. The LM7805 is a positive
voltage regulator capable of supplying up to 1A of load current.

The use of a PNP power transistor provides a low dropout voltage characteristic. With a load
current of 1A the minimum input to output voltage differential required for the output to remain

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in regulation is typically 0.5V (1V guaranteed maximum over the full operating temperature
range). Special circuitry has been incorporated to minimize the quiescent current to typically only
10 mA with a full 500 mA load current when the input to output voltage differential is greater than
3V. The LM7805 requires an output bypass capacitor for stability. As with most low dropout
regulators, the ESR of this capacitor remains a critical design parameter, but the LM7805 includes
special compensation circuitry that relaxes ESR requirements. The LM7805 is stable for all ESR
below 3Ω.

Figure 3.3: LM7805 Pin diagram [8]

3.8 Virtual serial port driver

The main goal of Virtual Serial Port Driver by Eltima Software is creating virtual COM port pairs.
Virtual serial ports created in VSPD behave as if they were real ports and are taken for the real
ones with the serial applications. Via these ports serial applications can communicate with each
other and transfer data via virtual null-modem cable. Virtual serial ports created in VSPD support
all serial port settings, strict baud rate emulation, hand Flow control and signal lines.
After virtual COM port pair was created, one can see these ports in Device manager, moreover
these ports are available automatically at system startup, even prior to logon.

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3.9 Arduino uno R3

Arduino is an open-source computer hardware and software company, project and user community
that designs and manufactures kits for building digital devices and interactive objects that can
sense and control the physical world. The Arduino Uno is a microcontroller board based on the
ATmega328 (datasheet). It has 14 digital input/output pins (of which 6 can be used as PWM
outputs), 6 analog inputs, a 16 MHz ceramic resonator, a USB connection, a power jack, an ICSP
header, and a reset button. It contains everything needed to support the microcontroller; simply
connect it to a computer with a USB cable or power it with an AC-to-DC adapter or battery to get
started [8]. The board can operate on an external supply of 6 to 20 volts. If supplied with less than
7V, however, the 5V pin may supply less than five volts and the board may be unstable. If using
more than 12V, the voltage regulator may overheat and damage the board. The recommended
range is 7 to 12 volts.

Figure 3.4: Arduino Uno R3 [9]

Arduino is more familiar microcontroller. It can be programmed using C, with simple program
moreover it is open source, beside it does not need additional compiler to its program and it is the
only microcontroller we can gate nearby in our faculty. Due to these reasons we have selected

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Arduino. It is an 8-bit microcontroller so, this bit represents the maximum output voltage of the
Arduino is 5v which corresponds to 255 digital value.

❖ Specifications of the Arduino Uno [10]

➢ Processor AVR Atmega328p
➢ Clock Speed 16MHZ
➢ Register width 8-bit
➢ 2kbyte of RAM
➢ Input maximum current of 40mA
➢ Power Consumption 175mW

3.9.1 Advantages of Arduino uno

Since its simple and accessible user experience, Arduino has been used in thousands of different
projects and applications. The Arduino software is easy-to-use for beginners, yet flexible enough
for advanced users. It runs on Mac, Windows, and Linux. Teachers and students use it to build low
cost scientific instruments, to prove chemistry and physics principles, or to get started with
programming and robotics.
There are many other microcontrollers and microcontroller platforms available for physical
computing. All of these tools take the messy details of microcontroller programming and wrap it
up in an easy-to-use package. Arduino also simplifies the process of working with
microcontrollers, but it offers some advantage over other systems:
 Inexpensive - Arduino boards are relatively inexpensive compared to other
microcontroller platforms. The least expensive version of the Arduino module can be
assembled by hand, and even the pre-assembled Arduino modules cost less than $50
 Cross-platform - The Arduino Software (IDE) runs on Windows, Macintosh OSX, and
Linux operating system s. Most microcontroller systems are limited to Windows.

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 Simple, clear programming environment - The Arduino Software (IDE) is easy-to-use for
beginners, yet flexible enough for advanced users to take advantage of as well. For
teachers, it's conveniently based on the Processing programming environment, so students
learning to program in that environment will be familiar with how the Arduino IDE works.
 Open source and extensible software - The Arduino software is published as open source
tools, available for extension by experienced programmers. The language can be expanded
through C++ libraries, and people wanting to understand the technical details can make
the leap from Arduino to the AVR-C programming language on which it's based.
Similarly, you can add AVR-C code directly into your Arduino programs if you want to.
 Open source and extensible hardware - The plans of the Arduino boards are published
under a Creative Commons license, so experienced circuit designers can make their own
version of the module, extending it and improving it. Even relatively inexperienced users
can build the breadboard version of the module in order to understand how it works and
save money.
3.10 ZigBee module
It is a specification for a suite of high-level communication protocols used to create personal area
networks built from small, low-power digital radios. Its low power consumption limits
transmission distances to 10–100 meters line-of-sight, depending on power output and
environmental characteristics, ZigBee devices can transmit data over long distances by passing
data through a mesh network of intermediate devices to reach more distant ones. ZigBee is
typically used in low data rate applications that require long battery life and secure. Applications
include wireless light switches, electrical meters with in-home-displays, traffic management
systems, and other consumer and industrial equipment that requires short-range low-rate wireless
data transfer.

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Figure 3.5: xBee Module

3.10.1 Operation of xBee

• To operate xBee, you will need two xBees, one will act as a transmitter and the other will act
as a receiver.
• Now suppose you want to send something from one side to another, now you have to connect
one xBee at the transmitter side and the other at the receiver side.
• Let’s take an example of home automation project in which you are using a remote to switch
on your light or fan etc.
• So, in that case there must be one xBee in your remote and the second one in your board where
the light circuit is placed.
• So, when you press the button of remote, the xBee in remote will send an instruction to the
xBee in the board.
• As soon as the xBee in the board receive the instruction from xBee in the remote it will on the
light. Obviously, there will be microcontrollers attached with both the xBee and we need hell
of a programming to do this operation.

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3.11 Proteus 8 professional software

Proteus design suite is an Electronic Design Automation (EDA) tool including schematic capture,
simulation and PCB designing and layout modules. The software runs on windows operating
system and is available in English and other many languages. The microcontroller simulation in
proteus works by applying either a hex file or a debug file to the microcontroller part on the
schematic. It is then connected to it. This enables its usage in a board spectrum of project
prototyping in areas such as motor control, temperature control and user interface design. It also
finds use in general applications and since no hardwa1re is required. It is convenient to use as
training or teaching tool. There are many advantages for proteus, which includes powerful string
manipulation, comprehensibility of proteus scripts and availability of advanced data structures.
The language can be extended by adding user functions written in proteus or created in C/C++.

3.12 Liquid crystal display

LCD (Liquid Crystal Display) screen is an electronic display module and find a wide range of
applications. In this project we use the 16x4 LCD display; it’s a very basic module and is very
commonly used in various devices and circuits. These modules are preferred over seven segments
and other multi segment LEDs. LCDs are economical; easily programmable; have no limitation of
displaying special & even custom characters (unlike in seven segments), animations and so on.[2].
A 16x4 LCD means it can display 16 characters per line and there are 4 such lines. In this LCD
each character is displayed in 5x7 pixel matrix. This LCD has two registers, namely, command
and data. The command register stores the command instructions given to the LCD. A command
is an instruction given to LCD to do a predefined task like initializing it, clearing its screen, setting
the cursor position, controlling display etc.

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Figure 3.6: Liquid Crystal Display

3.12.1 Liquid crystal display pin description

The LCD 16×4 Liquid Crystal Display which will display the 64 characters at a time in two rows
(16 characters in one row). Each character in the display of size 5 × 7-pixel matrixes, although this
matrix differs for different 16×4 LCD modules if you take JHD162A this matrix goes to 5×8. This
matrix will not be same for all the 16×4 LCD modules. There are 14 pins in the LCD module, the
pin configuration is given in the above.
Follow these simple steps for displaying a character or data
➢ E=1; enable pin should be high
➢ RS=1; Register select should be high
➢ R/W=0; Read/Write pin should be low.

To send a command to the LCD just follows these steps:

➢ E=1; enable pin should be high
➢ RS=0; Register select should be low
➢ R/W=1; Read/Write pin should be high.

Commands: There are some preset commands which will do a specific task in the LCD. These
commands are very important for displaying data in LCD. The list of commands given below.

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Table 3.1: LCD pin description

Pin Symbol Function

Number

1 Vg Ground (Common source of electron i.e. ground) 0V

2 VDD (Common drain for electrons i.e. HIGH voltage) 5V

3 VEE (Common emitter-used to control contrast) ground via resistor

4 Rs (Register select) used to tell the LCD controller whether data bus is a
command/text data.

5 R/W (Read/Write) HIGH for read LOW for write

6 EN (Enable) used for enabling and disabling the LCD

7 DB0

8 DB1

9 DB2

10 DB3

11 DB4 LCD data bus

12 DB5

13 DB6

14 DB7

15 DB8

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3.13 DC motor driver

L298D is a typical Motor driver or motor driver IC which allows DC motor to drive on either
direction. L298D is a 16-pin IC which can control a set of two DC motors simultaneously in any
direction. It needs a 5v supply voltage in order to power it.

It’s used for driving the motor as the output current from the Arduino Uno lonely can’t drive the
motor and it’s important for protecting the Arduino Uno from getting damaged due the back emf
which is produced when the motor stops.

➢ Pin ENA and ENB for speed control

➢ Pin IN 1, IN 2, IN 3, IN 4 are used for direction control

This module can drive the DC Motors having

➢ A voltage between 5V-35V

➢ A peak current up to 2A

Figure 3.7: L298 DC motor driver

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3.14 Keypad
This keypad has 16 buttons, arranged in a telephone-line 4x4 grid. It's made of a thin, flexible
membrane material with an adhesive backing (just remove the paper) so you can attach it to nearly
anything. The keys are connected into a matrix, so you only need 7 microcontroller pins (4-
columns and 4-rows) to scan through the pad [11].

3.14.1 How the keypad works

First, test whether any key is pressed down then connect power to rows, so they are High level.
Then set all the rows Y1-Y4 as Low and then detect the status of the columns. Any column of Low
indicates there is key pressing and that the key is among the 4 keys of the column. If all columns
are High, it means no key is pressed down. Next, locate the key. Since the column in which the
pressed key lies is identified, knowing the line would finalize the testing. Thus, set the rows as
Low in turns until any is unveiled accordingly other rows will still be High [12].

Figure 3.8: Keypad [11]

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CHAPTER FOUR
SYSTEM DESIGN AND ANALYSIS
4.1 Power supply design
The input to the circuit is applied from the regulated power supply. We need a constant low voltage
regulated power supply of +5V, providing input voltages to the Arduino uno, keypad and LCD
display which requires 5 volts supply and this power supply unit contains the following parts.

220 V AC Step-down Rectifier Filter Regulator 5V DC

transformer

Figure 4.1: Power system design

The components we used for our DC voltage design from AC source of 220V are:
AC Power supply (VSINE) (230V,50HZ)
Transformer (TRAN-2P2S) (Primary: 1H, Secondary: 5.4mH)
Bridge Rectifier
Voltage regulator
Electrolytic Capacitor

A step-down transformer accepts a given voltage on the primary side and outputs a lower voltage
on its secondary side. It uses 220V at 20mA from the feeder line and steps down to safer 9 V at
500mA; using the transformer equations we have the following calculation;

𝑉1 𝑁1 𝐼2
= = … … … … … … … … … … … … … … … … . (4.1)
𝑉2 𝑁2 𝐼1
Form the above equation and the give values for input output we can calculate number of turns

I1= 20mA, V2= 9V, V1 = 220V, I2= 500mA

𝑉2 9 1
= =
𝑉1 220 24.44
So, from these we get the turn ratio is 24:1 assume that number of turns in secondary be 50
220 𝑁1
Therefore, =
9 50

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N1=1222 turns.
First, we need to convert the rms power supply voltage to its peak voltage value (amplitude) as
follows:

𝑉𝑝𝑒𝑎𝑘 = √2 ∗ Vrms = √2 ∗ 9V = 12.73V

We have to determine this capacitance for filtering

𝑉𝑟
𝑉𝑎𝑐𝑟𝑚𝑠 =
2√3

𝑉𝑟
𝑉𝑑𝑐 = 𝑉𝑚𝑎𝑥 − ( )
2

𝑉𝑟 = 𝑉𝑚𝑎𝑥 − 𝑉𝑚𝑖𝑛

𝑉𝑟 = 5.2𝑉 − 4.8𝑉 = 0.4𝑉

0.4𝑉
𝑉𝑎𝑐𝑟𝑚𝑠 = = 0.3464𝑉
2√3

𝑉𝑑𝑐 = 5𝑉

𝑉𝑎𝑐𝑟𝑚𝑠 0.3464𝑉
Ripple factor, 𝑦 = = = 0.06928
𝑉𝑑𝑐 5𝑉

Note: Knowledge of ripple factor is essential while designing the values of capacitors.

Therefore, we get 12.73V and 500mA at the output. Having this amount of voltage, the IC7805
voltage regulator steps down 12.73V into a regulated DC 5V.

𝑉2
𝑅=
𝐼𝑐

V2= secondary voltage of transformer

9𝑉
𝑅= = 18Ω
500𝑚𝐴

The value of capacitor is calculated as follows for full wave rectifier.

1 1
𝐶= = = 2314µF
4 ∗ √3 ∗ f ∗ R ∗ y 4 ∗ √3 ∗ 50𝐻𝑧 ∗ 18 ∗ 0.06928

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Where, f=frequency of AC (50Hz)

R=resistance calculated.

C= filtering capacitance

Thus, C= 2314 µF and standard 2200µF is chosen.

Datasheet of 7805 prescribes to use a 1000μF capacitor at the output side to

avoid transient changes in the voltages due to changes in load and a 2200μF at the input side of
regulator to avoid ripples/harmonics if the filtering is far away from regulator [13].

As we require a 5V we need LM7805 Voltage Regulator IC.

7805 IC Rating:

Input voltage range 7V- 35V.

Current rating Ic = 1A.
Output voltage range Vmax=5.2V, Vmin=4.8V.

Note: 12V DC voltage can be stepped down to 5V DC voltage using a DC step-down converter
called as Voltage regulator IC7805. The first two digits ‘78’ of IC7805 voltage regulator represent
positive series voltage regulators and the last two digits ‘05’ represents the output voltage of the
voltage regulator [13].

4.2 Dc motor mathematical model and the control theory

DC motors have speed-control capability, which means that speed, torque and even direction of
rotation can be changed at any time to meet new conditions. The electric circuit of the armature
and the free body diagram of the rotor are shown in the following figure- 4.2 as shown below.

Figure 4.2: The Electrical Circuit of Armature and Rotor [14].

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Let Ra=Armature Resistance,

La=Armature self-inductance caused by armature flux,
Ia= Armature current,
If= field current,
Eb=Back EMF in armature,
V =Applied voltage,
T=Torque developed by the motor,
θ = Angular displacement of the motor shaft,
Ј =Equivalent moment of inertia of motor shaft & load referred to the motor,
B= Equivalent Coefficient of friction of motor shaft & load referred to the motor.
The DC motors are generally used in the linear range of the magnetization curve. Therefore, air
gap flux Ф is proportional of the field current i.e.
Ф = Kf ∗ If … … … … … … … … … … … … … … … … . . (1)
Where Kf is a constant
The torque T developed by the motor is proportional to the armature current and air gap flux i.e.
T ∝ Ф ∗ 𝐼𝑎
𝑇 = 𝐾𝑎 ∗ Ф ∗ Ia
𝑇 = 𝐾𝑎 ∗ 𝐾𝑓 ∗ Ф ∗ Ia
𝑇 = 𝐾𝑇 ∗ 𝐼𝑎 … … … … … … … … … … … … … … … … (2)
Where KT =motor toque constant
The motor back EMF being proportional to speed is given as
𝐸𝑏 ∝ Ф ∗ w
𝐸𝑏 = 𝐾𝑏 ∗ 𝑤
𝑑θ
𝐸𝑏 = 𝐾𝑏 ∗ … … … … … … … … … … … … … … … … … … . (3)
𝑑𝑡
Where Kb= back emf constant
Applying KVL in the armature circuit
𝑑𝐼𝑎
𝑉 = 𝐼𝑎 ∗ 𝑅𝑎 + 𝐿𝑎 ∗ + 𝐸𝑏 … … … … … … … … … … … … . (4)
𝑑𝑡
And the dynamic equation with moment of inertia & coefficient of friction will be

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𝑑2θ 𝑑θ
𝑇=𝐽∗ 2
+ 𝐵 ∗ … … … … … … … … … … … … … … … . (5)
𝑑𝑡 𝑑𝑡
And with load torque
𝑑2θ 𝑑θ
𝑇=𝐽∗ 2
+𝐵∗ + 𝑇𝑙 … … … … … … … … … … … (6)
𝑑𝑡 𝑑𝑡
Take the Laplace transform of equation of (2), (3), (4) and (5)
𝑇(𝑠) = 𝐾 ∗ 𝐼𝑎(𝑠)
𝐸𝑏(𝑠) = 𝐾𝑏 ∗ 𝑆θ(𝑠)
𝑉(𝑠) = 𝐼𝑎(𝑠)(𝑅𝑎 + 𝑠𝐿𝑎) + 𝐸𝑏
𝑉(𝑠) − 𝐸𝑏(𝑠) = 𝐼𝑎(𝑠)( 𝑅𝑎 + 𝑠𝐿𝑎)
𝑇(𝑠) = (𝐽 ∗ 𝑠 2 + 𝑠𝐵)𝑠θ(𝑠)
or
𝑇(𝑠) = (𝐽 ∗ 𝑠2 + 𝑠𝐵)𝑤(𝑠)
𝑇(𝑠) = 𝐾𝑎𝐼(𝑠)
For a separately excited DC motor the armature voltage is given by
𝐸𝑎 = 𝐾ФW … … … … … … … … … … … … … … … (7)
𝐸𝑎 = 𝑉 − 𝐼𝑎 ∗ 𝑅𝑎 = 𝐾ФW
Solving for the speed (W)

𝑉 − 𝐼𝑎 ∗ 𝑅𝑎
𝑊= … … … … … … … … … … … … … … … (8)
𝐾∗Ф
From the Dc motor datasheet prescription
V=12V, Ia=2.52A, Ra=2 Ω, K=47rpm/V*wb, Ф = 0.0005wb

12𝑉 − 2.52𝐴 ∗ 2Ω
𝑊= = 296.617𝑟𝑝𝑚
47𝑟𝑝𝑚
∗ 𝑤𝑏 ∗ 0.0005𝑤𝑏
𝑉

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Figure 4.3: Schematic diagram of power supply

4.3 Flow chart description

First initialize the material (create serial port connection via VSPD) that is used in the system and
if the Zigbee module detects the signal the Arduino gets signal which is provided from the xBee
module and takes the command and provides the result to the LCD to be displayed. And if the
xBee module do not detect the signal the LCD displays won’t convey anything.

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Start

Create Serial Connection

Motor is On

No Is the signal Yes

for case-1?
Motor runs in
Is the signal CW
No
for case-2?

Stop
Yes Is the
running No Yes
Speed Min?
Motor runs
Decrease Increase
in CCW
the Speed the Speed

No Is the Yes
Speed Min?

Decrease Increase
the Speed the Speed

End

Figure 4.4: System flow chart

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4.3 Software development and hardware system diagram in Proteus

Software development as a general is to develop embedded software required to be integrated and
controlled with the hardware development. Software development also means an activity on the
computer programming required to construct a circuit as a simulation before doing a fabrication
to construct a real physical hardware development. Software programs, called sketches, are created
on a computer using the Arduino integrated development environment (IDE). The IDE enables
you to write and edit code and convert this code into instructions that Arduino hardware
understands. The IDE also transfers those instructions to the Arduino board (a process called
uploading). In our system first give the power supply to activate microcontroller and all the other
components. The Keypad is used as an input to the controller to send a command from the
transmitter side and receive the signal/command at the receiver side. And the LCD and the
computer are used as an output. In here the LCD is used to display the position/direction of the
motor rotation and the computer is used to display the system output.

Figure 4.5: Arduino IDE Environment

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Figure 4.6: Schematic diagram of Arduino uno interfaced with LCD

Figure 4.7: Schematic diagram of Arduino uno interfaced with the motor driver

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Figure 4.8: Complete system design for the receiver section

Figure 4.9: Complete system design for the transmitter section

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4.4 Arduino functions

A function is a group of instructions, also known as a named procedure, used by programming
languages to return a single result or a set of results. All functions must have a unique name, setup
is one example of a unique function name (setup and loop are special functions in Arduino
programming and form part of the structure of a basic sketch). The function name is followed by
opening and closing parentheses () that may or may not contain something. All functions must
have a return type. The body of a function consists of an opening and closing brace (and). Different
functions that are used mostly in Arduino are listed as follows.

➢ The setup () Function

Statements in the setup () function are run only once, every time that the sketch is run. The program
then starts executing statements in the loop () function. The sketch will run after it has been
programmed into the Arduino. Opening the serial monitor window will reset the Arduino and cause
it to run the sketch again. The sketch can also be rerun by pressing.

➢ The loop () Function

Statements in the loop () function will run continuously from top to bottom and then back to the
top. If the loop () function contains two statements, the first statement will be executed, then the
second statement, then the first statement again and so on in a loop.

➢ pinMode ()

The pin Mode function configures the specified pin to behave either as an input or an output.

➢ digitalWrite ()

The digital Write function writes a HIGH or a LOW value to a digital pin. The digitalWrite
function writes a HIGH or a LOW value to a digital.
➢ digitalRead ()
Reads the value from a specified digital pin, either HIGH or LOW. digitalRead(pin) the function
reads a HIGH or a LOW value to a digital.

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CHAPTER FIVE
RESULT AND DISCUSSION
5.1 Result
When the xBee module gets the signal from the master Arduino in the transmitter the receiver
terminals of the xBee module provides signal to the microcontroller and the microcontroller sends
the command to the motor driver the result to the LCD for it to be displayed. And the sampled
output is looks like:

Figure 5.1: Sampled output of the software system

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The figures shown below conveys the change of duty cycle of The PWM Arduino microcontroller.
The Arduino microcontroller having a 25% duty cycle then it provide a ¼ of power to the motor,
when Arduino microcontroller having a 50% duty cycle then microcontroller provide a ½ of power
to the motor, when Arduino microcontroller having a 75% duty cycle then Arduino
Microcontroller provide a ¾ of power to the motor and finally the microcontroller provide a 100%
duty cycle then microcontroller provide a full power to the motor.

As the Ton increases and Toff decreases Duty cycle increase thus the speed of the motor increases
since the on time is higher than the off time. As the Ton decreases and Toff increases Duty cycle
decrease thus the speed of the motor decreases since the on time is lower than the off time. The
following figures demonstrates the effect.

Figure 5.2: Pulse width modulation when the speed of the motor decrease by 25%

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Figure 5.3: Pulse width modulation when the speed of the motor decrease by 50%

Figure 5.4: Pulse width modulation when the speed of the motor decrease by 75%

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5.2 Discussion
As it is seen from the above results the motor rotates in clockwise direction and anticlockwise
direction when a command signal ‘1’ and ‘2’ are pressed respectively. It will then stop when
keypad number ‘3’ is pressed. It’s also observed that the speed of the motor can be controlled by
the pulse width modulation pin numbers of the Arduino uno ‘6’ and ‘9’, thus when we press:
➢ Keypad number ‘4’ motor decreases the speed by 25%.
➢ Keypad number ‘5’ motor decreases the speed by 50%.
➢ Keypad number ‘6’ motor decreases the speed by 75%.

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CHAPTER SIX
CONCLUSION AND RECOMMENDATION

6.1 Conclusion
Controlling is one discipline, when we say motor controlling, we have to study motor
characteristics of the motor and mechanisms of controlling it. As we control motor, we increase
its performance. DC motor is being widely used by industries because of its feature. As we control
its speed, we can save energy and money. As a result, we have to decide the better controlling
mechanism. Even if there exist different mechanism of controlling DC Motor, we have selected
wireless controlling since it is less complex, low cost and reliable controlling.
Controlling the DC motor wirelessly decrease the time consume to command the motor as a result
we will save energy, loss of material, byproduct due to the interruption and decrease the rate of
damaging of equipment.
As we can vary DC motor speed and direction, we are increasing efficiency of factories this
contributes on the development of the country. As long as we make the system cost low many
industries own will purchase it. Consequently, there production capacity will increase. On the other
hand, the project contributes a lot on saving energy.
This system will help in monitoring and control the DC motor parameters which is widely used in
industries. Because of Using Zigbee communication protocol the wires and hardware are reduced
significantly. Remote monitoring and controlling are possible.

While we are doing this project, we have gotten a lot of experience over DC motor and different
controlling mechanisms. This make us to do more on DC motor. This will not be our last with such
kind of project we will do more as such a system has such and such advantages.

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Design and simulation of Wireless Direct Current Motor Speed and Direction Control 2011 E.c

6.2 Recommendation
Along the course of project completion, we encountered various problems and obstacles. Not
everything that we had planned went smoothly during the project development span. We had to
start from the research phase at the beginning and needed to gain knowledge on all the devices and
components that we had intended to use for our project.
As part of our recommendation, we would like to recommend to the future researcher to modify
this project by adding a speed sensors and encoders in order to detect the speed of the motor and
make it visual for the user using visual indicator.

UOG,IOT,DEPARTMENT OF ELECTRICAL AND COMPUTER ENGINEERING 38

Design and simulation of Wireless Direct Current Motor Speed and Direction Control 2011 E.c

References

[1] U. F. a. M. I. Seyd Ashan Ali, PWM direction transmission through RF for motor speed
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[2] P. A. P.S.Joshi, Wireless speed control of DC motor using PWM technique with RF
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[3] Diection and speed control of DC motor, Malaysia Pahang: Faculty of Electrical and
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UOG,IOT,DEPARTMENT OF ELECTRICAL AND COMPUTER ENGINEERING 39

Design and simulation of Wireless Direct Current Motor Speed and Direction Control 2011 E.c

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UOG,IOT,DEPARTMENT OF ELECTRICAL AND COMPUTER ENGINEERING 40