WIRELESS SPEED CONTROL OF DC MOTOR

PROJECT REPORT
Submitted by
PRAKASH D 21BEPEEE028
VIVEK R 21BEPEEE025
EDWIN SUNDARRAJ J 21BEPEEE003

In partial fulfilment for the award of the degree

of
BACHELOR OF ENGINEERING
in
ELECTRICAL AND ELECTRONICS ENGINEERING

Department of Electrical and Electronics Engineering

Faculty of Engineering

KARPAGAM ACADEMY OF HIGHER EDUCAION

COIMBATORE - 641021
 KARPAGAM ACADEMY OF HIGHER EDUCATION

COIMBATORE 641 021

BONAFIDE CERTIFICATE

Certified that this project report “WIRELESS SPEED CONTROL OF DC

MOTOR” is the bonafide work of PRAKASH D (21BEPEEE028), VIVEK R
(21BEPEEE025), EDWIN SUNDARRAJ J (21BEPEEE003)
who carried out the project work under my supervision.

Dr. V.Vanitha, M.E., Ph.D., Mr.R. Sethuraman., M.E.,

Prof.& Head, Project Guide,
Department of EEE, Asst Professor, Department of EEE,
Faculty of engineering, Faculty of engineering,
Karpagam Academy of Higher Education Karpagam Academy of Higher Education
Coimbatore-641 021 Coimbatore- 641 021.

Submitted for the Project viva-voice Phase -II examination held on .

Internal Examiner External Examiner

 ACKNOWLEDGEMENT

When we look back after the successful completion of the project, I feel a great sense
of gratitude and pride for having the University has been the inspiration and guiding light
for the Confidence that made me successful.
First and foremost, I place this project work on the feet of The ALMIGHTY who is
the power of strength in each step of progress towards the successful completion of this
project.
We deem it is great privilege to thank Prof. Dr. B. Venkatachalapathy, Vice
chancellorof Karpagam Academy of Higher Education for the moral and academic support.
We express my heartfelt thanks to Dr. S. Ravi, Registrar of Karpagam Academy of
Higher Education for his moral support.
We thank our Dean Dr.A.Amudha, Faculty of Engineering, Karpagam Academy of
Higher Education, Coimbatore, for her encouragement in completion of this project.
It gives me a great pleasure in offering my thanks to Dr.V.Vanitha, Professor and
Head, Department of Electrical and Electronics Engineering, Faculty of Engineering,
Karpagam Academy of Higher Education, Coimbatore, for her constant support and
encouragement.
We owe a deep sense of gratitude to Mrs. Elavarasi, Assistant Professor & Project
Coordinator, Department of Electrical and Electronics Engineering, Faculty of Engineering,
Karpagam Academy of Higher Education, Coimbatore for giving me this opportunity and also
for extending support throughout this project.
I am greatly honored and feel privileged in offering my sincere thanks to our project
guide, Mr. R. Sethuraman, Assistant Professor, Department of Electrical and Electronics
Engineering, Faculty of Engineering, Karpagam Academy of Higher Education, Coimbatore
for her guidance in completion of this project.
I would also like to thank all the teaching and non-teaching staff members, Department
of Electrical and Electronics Engineering, Faculty of Engineering, Karpagam Academy of
Higher Education, Coimbatore.
 ABSTRACT

In most real-world applications of DC motors, maximum speed is not

always required, there are situations where only 50%, 25% or any fraction of the full
speed may be needed to achieve the needed action. Direction of rotation are often times
needed to be reversed based on work demand, for instance, in robotics, the forward,
backward, eastward and westward movements may be necessary, thereby necessitating
the need for modification of the natural direction and speed of dc motor. This project is
significant in that; it enables flexible application of dc motor in areas like robotics,
levitation and other industrial can successfully substitute gear system in some
automobile applications. The work centered around HC05 Bluetooth device. From the
result of this work, it was satisfactorily concluded that: The speed and direction of dc
motor can be controlled using RF remote in the range of 0 to 10m with advantages in
traction, robotics and other industrial applications where human direct contact could be
hazardous. The project is recommended for industrial applications, like paper mills,
rolling mills, printing machine tools, excavators and cranes. It is also applicable to
robotics enthusiasts as it will enable remote robotic operation and applications. The
project will equally be useful in the industrial product application like toys, home
security, gate and garage door opener, irrigation controllers and many more.
 TABLE OF CONTENT
FIGURE NO NAME OF THE FIGURE PAGE NO

1.1 Introduction of Chapter-1 01

1.2 Existing System 01

1.3 Disadvantages to overcome 02

1.4 Advantages of proposed system 02

2.1 Introduction of Chapter-2 03

2.2 Literature survey 03

3.0 Introduction of Chapter-3 08

3.2 Block diagram 10

3.3 SMPS 11

3.4 Block diagram of SMPS 12

3.5 Circuit diagram of SMPS 14

3.6 Construction and working 15

3.7 Types 18

3.8 Advantages and Disadvantages 19

3.9 Arduino Uno 21

3.10 DC motor 24

3.11 Principle of operation 25

3.11.1 Electromagnet and motor 27

working
3.11.2 The armature working 28
3.11.3 Commutator and Brushes 29

3.11.4 Battery with magnet working 30

3.11.5 Torque in motor 31

3.12 HC serial Bluetooth 32

3.13 Relay 34

3.14 Relay driver circuit 36

3.15 Remote control 40

3.16 Transmitter circuit 41

3.17 Receiver circuit 43

3.18 Circuit diagram 45

3.19 Summary 46
 LIST OF FIGURES
FIGURE NO NAME OF THE FIGURE PAGE NO

3.0 Chapter-3 08

3.1 Block diagram 09

3.3 Circuit diagram 13

3.4 Physical image of SMPS 14

3.5 Arduino motherboard 21

3.6 Fleming’s LHR 23

3.7 Field magnet 25

3.8 Electromagnet 27

3.9 Armature 27

3.10 Commutator & Brushes 28

3.11 Battery with magnet 29

3.12 HC-05 Bluetooth module 32

3.13 Relay 34

3.14 Relay driver circuit 36

3.15 Switch operation 40

3.16 Simulation of control 40

3.17 Transmitter circuit board 42

3.18 Remote transmitter circuit 42

3.19 Remote receiver circuit board 43

3.20 Remote receiver circuit 44

3.21 Circuit diagram 45

 CHAPTER – 1

INTRODUCTION

1.1 INTRODUCTION

Mixer grinder in a residential application works with a 230V single phase AC

supply and at present it operates with a universal motor. The efficiency of this
motor is in the range of 40 ~ 60%. To improve the efficiency with more reliable
and easy control, the possibilities of universal motor in the application is
explored. The objective of the project is to design and implement wireless speed
control of mixture grinding with universal motor using PIC microcontroller. The
design of mixer grinder with wireless communication with 230 AC power supply
is also done and its performance is evaluated.

1.2 EXISTING SYSTEM

A grinder-mixer is a portable mill that combines the mixing operations.

Grinding of ingredients generally improves feed digestibility, acceptability,
mixing property. Whenever a current-carrying coil is placed in a magnetic field it
experiences a force, which produces a torque that can rotate the coil. The direction
of force is determined by the Fleming left-hand rule. A motor is a machine that
converts electrical energy into mechanical energy. Universal motor is a special
type of motor which can work for both A.C (single-phase) and D.C. The
components of a mixer grinder are universal motor which consists of rotor, carbon
brushes, commutator, and field winding, rotary switch to alter the speed,
indication lamp, and a plug. Whenever the mixer grinder is switched on, universal
motor comes into action as current passes through both the field winding and
armature winding and as a result, a torque is applied on the rotor, the rotor starts
rotating which then rotates the blades of the mixture grinder and thus it helps in
mixing and grinding of the ingredients.

1.3 MAJOR DISADVANTAGES TO OVERCOME

The existing system doesn’t have the wireless technology. Additionally, if the
voltage drops the required rpm will be reduced. It cannot maintain the standard
RPM, because there is no speed regulatory mechanism.

1.4 ADVANTAGE OF THE PROPOSED SYSTEM

If wireless speed control system is implemented considerable amount of

time can be saved and it can be effectively utilised for doing other works. During
voltage fluctuation the required voltage will be provided to run the mixing
process by feedback method. This project focuses on closed loop speed control
of universal motor using the microcontroller with wireless communication.

1.5 CONCLUSION

Working of universal motor, objective of the project, disadvantage of the

existing system and advantage of the proposed system are discussed in this
chapter.

Chapter 2: Deals with the literature survey of the wireless speed control of
universal motor.

Chapter 3: Describes block diagram and circuit description of the wireless speed
control of universal motor.

Chapter 4: Explains conclusion and future work of the project.

 CHAPTER -2

LITERATURE REVIEW

2.1 INTRODUCTION

Survey based on speed control of universal motor has been done by

referring to latest publication in national and international journals.

2.2 LITERATURE SURVEY

1.A. K. P. Pankaj sahu, “A comparative analysis between fuzzy controller

and PID controller for a universal motor” Asian Journal of Engineering
Research, vol. 1, pp. 01-04, 2013.

In this project separately excited DC drive system is used,

because of its simplicity, ease of application, reliability and favourable cost they
have long been a backbone of industrial applications and it will have a long
tradition of use as adjustable speed machines and a wide range of options have
evolved for this purpose. In these applications, the motor should be precisely
controlled to give the desired performance. Many varieties of control schemes
such as proportional, integral, derivative, proportional integral (PI), PID,
adaptive, and FLCs, have been developed for speed control of dc motors [1].
The speed of dc motor is controlled by varying the voltage to its armature or
field. By varying the voltage to the field, one can only run the motors at speed
higher than base speed at the expense of the falling torque. The important aspect
of the speed control dc motor is the armature voltage control method. By varying
voltage to the armature of the dc motor the speed of the motor should be varied.
Speed of DC motor can be controlled by PID controller.
2.B. Copot et.al, 3rd International Conference on Fractional Signals and
Systems - FSS 2013, Ghent, Belgium, 2013, Speed and position control of a
DC motor,"

The mechatronic systems represent one of the most

challenging control applications due to their interdisciplinary nature [2, 3, 4].
Numerous control algorithms have been proposed to deal with nonlinear
dynamics of the mechatronic systems. For linear mechatronic systems, the
proportional-integral- derivative (PID) controller is often used owing to its
simple structure and robustness [5]. Another approach in dealing with
mechatronic systems challenges is the fractional-order (FO) control strategies.
One of the most common applications in all mechatronic domains is the control
of DC motors. The control of DC motors has been the interest of many
researchers, due to the wide variety of applications that require the use of
different types of DC motors [6, 7, 8]. The controllers designed for these DC
motors range from simple traditional PIDs to advanced control algorithms,
among which fractional order control has been gaining more and more
popularity. Fractional calculus has been used relatively recently in modelling
and control applications [9, 10]. The attractiveness of the fractional order PID
controllers resides in their potential to increase the closed loop performance and
robustness of the closed loop system, due to the extra tuning parameters
available, as compared to the conventional controller. With fractional order
controllers, the order of differentiation and integration may be used as
supplementary tuning parameters and thus more specifications can be fulfilled at
the same time, including the robustness to plant uncertainties, such as gain and
time constant changes.
3.Shweta Singh et.al, Conference: 2017 IEEE International WIE Conference
on Electrical and Computer Engineering (WIECON- ECE) At: Dehradun,
Uttarkhand, India Sensorless Speed Estimation of PM Synchronous Motor
Drive using Model Reference Adaptive System (MRAS)

The efficient operation of high performing Variable

Speed Drives (VSD) requires rotor angle information. Sensorless methods have
become very fascinating for industrial users, as these inhibit several advantages
over sensor based methods. In this paper, a Model Reference Adaptive System
(MRAS) has been implemented for speed estimation of Permanent Magnet
Synchronous Motor (PMSM) Drive and the performance has been analyzed for
various speed and load torque values. The test results demonstrate that the MRAS
based PMSMhas a good speed tracking capability, and accuracy of drive.

4.Xheladini Liridon, Alper Tap, Tasdemir Asan, Murat Yilmaz and Lale
T. Ergene, "Permanent magnet synchronous motor and universal motor
comparison for washing machine application", 2017 11th IEEE International
Conference on Compatibility Power Electronics and Power Engineering
(CPE-POWERENG), pp. 381-386, 2017.

Efficiency is one of the most important characteristics

of home appliances since there are tremendous amounts of units out in the
market. Main factor efficiency of these home appliances is the efficiencies of
the electrical motors used in them. A comparison is made for two particular
motors used in washing machine. A permanent magnet synchronous Motor and
a universal motor. Comparison is made on the basis of efficiency, torque and
speed capability, current and induced voltage. Results are also presented and
compared with the experimental results.
More efficiency, less maintenance and compact structure are important factors
in electrical machines used in home appliances. So the motors used in such
 applications should have these features including high torque to volume and
torque to weight ratios. This study compares a permanent magnet synchronous
motor (PMSM) to a universal motor (UM) for washing machine application.
Permanent magnet synchronous motors are widely accepted in industry. They
have advantages over other machines because of their high efficiency, high power
to volume ratio, low noise, simple construction, less maintenance, high speed
capability and precise torque control features. PMSMs are generally classified
into three categories according to the position of magnets inside the rotor. Internal
permanent magnet motors (IPMs) such as spoke type, u-shape, V-shape, surface
permanent magnet motors and the insert permanent magnet motors. Stator
structure may either have distributed or concentrated windings with integer or
fractional slots. A fractional slot concentrated winding employs higher slot fill
factor than a distributed one with much less end turns, resulting in a higher power
density [11]. PMSMs can be both driven directly from network using starting
structures in rotor or can be driven via inverters for variable speed applications.
These features make them suitable candidates for several applications.

5.Y. Jiayuan, L. Hongxin, Q. Yunxia, Y. Xiaoan, Y. Yuan, G. Aiping, et al.,

"Fuzzy interfering control of universal motor for electromagnetic
nonlinearity," pp. 519-522, 2019

In industry, DC-motors are widely applicable due to its speed can

be adjusted. Motor-speed control can be done in different arrangements [12].
The universal motors (UM) are an electric rotating machine that analogous to a
direct current (DC) motors but it can be work either from (DC) sources or (AC)
sources. It combines some advantages like, smaller size, large starting torque,
high revolution (approx. 30,000 rpm) and have lower costs. Generally, different
home appliances are powered by UM, such as electric drills, grinders, vacuum
cleaners, and saws etc. [13], [14]. UM have widespread application. Its
energy of the input power is very low as compared to other types. So, the
requirements become increasingly higher for motors with high performances and
low-cost controller. Also, recently, Smart home systems have great attention in
the control engineering. Universal motors (UM) are normally used for driving
portable apparatus such as hand tool machines, vacuum cleaners and most
domestic apparatus.

The importance of UM is due to its own advantages such as high starting

torque, very powerful in relation to its small size, having a variable speed and
lower cost. A mathematical model for UM is designed. Two controllers are
proposed for controlling the motor speed, output rate controller and output reset
controller. Ant Colony Optimization (ACO) is proposed for tuning the
controller’s parameters due to its impact on solving different optimization
problems. It possesses fast convergence, minimum algorithm parameters
required, lower consecution time and give optimal results without needing large
number of iterations. The results are compared and discussed accurately, which
show the proposed tuning technique work well and give optimal results for both
controllers.
 CHAPTER - 3
BLOCK DIAGRAM AND CIRCUIT DESCRIPTION

3.1 INTRODUCTION

In this chapter, the hardware and software required for the universal motor
and speed control of universal motor will be discussed.

3.2 BLOCK DIAGRAM

Fig 3.1 shows the complete block diagram of the propose wireless speed
control of universal motor. It includes power supply, micro controller, Driver
circuit, universal motor, sensor, & remote.

Fig 3.1 Block diagram

 3.3 SMPS

If we need DC power supply for circuits we choose stepdown transformer based

Rectifier circuit, It may give constant DC voltage under Regulator ICs but when the
current fluctuations occurs at Input Power Source then the DC output supply will also
gets affected.

We know that linear power supplies or stepdown transformer based power supply
requires heavy transformers to step down the AC supply and then Rectifiers, Regulators
to make it constant DC supply. Depends on the output current delivery, size of
transformer increase. On the other hand, Switched Mode Power Supplies that is SMPS
are compact in size and efficient devices used to convert Input AC Supply ranging from
from 90 to 250 V (typical Value) to Desired level of DC Supply like 5V, 12V, 24V and
-V etc., Here SMPS uses a controlled high frequency switching circuit to control the
Output DC Supply. This enables SMPS to give desired output Voltage and Current.

To get rid of this drawback in traditional DC power supply method engineers, electronic
designers are go with SMPS circuit. You may heard the name SMPS (Switched Mode
Power Supply), It gives good constant DC output with considerably constant output
current.

Switched Mode Power Supply design given in the form of simple SMPS Circuit
diagram, We know SMPS is an essential device for modern electronics, to provide
efficient power supply from AC to DC. A Typical SMPS circuit contains Various
components like Transistors, Diodes, Capacitors, Inductors and Special Pulse
Transformer, those are should meet with the requirement specifications and arranged in
a feedback loop to regulate Voltage and Current flow. This article will help you to
understand the SMPS diagram with explanation from the schematic of SMPS to the
Practical Implementation. Operation principle of TNY267 based SMPS ckt remains
same for 12V or 5V SMPS Circuit.
3.4 BLOCK DIAGRAM

Fig 3.2 Block diagram of SMPS

Before going to circuit diagram it is necessary to understand the operation of SMPS.
This block diagram represents typical SMPS inner blocks.

We give high voltage AC Input and low frequency which is available on power outlet,
the first stage of SMPS is Rectifier and filter hence the high AC becomes High Voltage
DC from this operation we eliminate high spikes and surge, High voltage DC is
controlled by High Frequency switching device (50KHz-120KHz) vary depends on
design this switching block samples the high voltage DC with feed back path reference.

The flyback or tiny ferrite core transformer step down the voltage as required depends
on design, then the second stage is Rectifier and filter section, it gives Rectified
constant DC output Voltage without current fluctuations.

Some portion of output is taken as feedback signal and this signal compared with
reference voltage and the error (if present) is amplified depends on the error PWM pulse
changes its frequency hence the switching device regulates the output. So the minimum
changes in output DC regulated instantly without affecting load.
3.5 CIRCUIT DIAGRAM

Fig 3.3 Circuit diagram of SMPS

 3.6 CONSTRUCTION AND WORKING

Main three parts of this simple SMPS circuit are TNY267 tiny switch -II family
IC from power integrations. It is enhanced, energy efficient and low power
offline switching device.

Secondly EE20 core flyback transformer as stepdown transformer which is

made up of compact ferrite EE. Middle column includes a cross-section of 4.5 x
4.5 mm, air gap 0.4 mm. Primary carries 157 turns of wire diameter 0.15 mm.
Secondary incorporates (for 12V output) 14 turns of wire 0.4 mm.

Finally Optocoupler in feedback path IC2 EL817, it is a photo transistor opto

coupler, when the output DC voltage goes beyond the limit then this
optocoupler gives signal to TNY 267 IC, and then the PWM output pulse gets
changers accordingly.

Use the components as specified and output will be 12V DC with 1 Amps
current rating.
 Fig 3.4 Physical diagram of SMPS

1.) Input Stage:

 AC Input: The SMPS circuit receives AC input from the mains supply.
 Rectification and Filtering: The AC voltage is rectified using a bridge
rectifier to convert it into a pulsating DC voltage. This DC voltage is then
filtered using capacitors to produce a relatively smooth DC voltage.
2.) High-Frequency Switching:
 Switching Transistor: A high-frequency switching transistor (like a
MOSFET or IGBT) is used to chop the DC voltage into a high-frequency AC
signal. The switching frequency can range from 20 kHz to several MHz.
 PWM Control: The switching transistor is controlled by a Pulse Width
Modulation (PWM) controller. The duty cycle of the PWM signal determines
the output voltage.

3.) Transformer Stage:

 High-Frequency Transformer: The high-frequency AC signal is fed into a
high-frequency transformer. This transformer steps up or steps down the
voltage to the desired level. The high-frequency transformers differ
significantly from traditional 50/60 Hz transformers. Here are the key points:
4.) Output Stage:
 Rectification: The high-frequency AC voltage from the transformer’s
secondary winding is rectified using diodes (typically Schottky diodes for
their fast-switching speed).
 Filtering: The rectified voltage is filtered using inductors and capacitors to
smooth it out and provide a stable DC output.
5.) Feedback Mechanism:

Feedback control in an SMPS ensures that the output voltage remains stable
despite changes in load or input voltage. It typically involves:

 Voltage Feedback: A portion of the output voltage is fed back to the PWM
controller through an error amplifier. This feedback loop adjusts the PWM
duty cycle to regulate the output voltage and maintain it within the desired
range.
 Isolation: Optocouplers are often used in the feedback loop to maintain
electrical isolation between the high-voltage primary side and the low-
voltage secondary side.
 Error Amplifier: Compares output voltage to a reference voltage.
 Compensation Network: Stabilizes the feedback loop.
 Pulse Width Modulator (PWM): Adjusts the duty cycle of the switch to
maintain the desired output voltage.
 3.7 TYPES OF SMPS
Types of SMPS Topologies:
Non-Isolated SMPS:
Direct connection between input and output without isolation.

 Buck Converter: Steps down the input voltage to a lower output voltage.
 Boost Converter: Steps up the input voltage to a higher output voltage.
 Buck-Boost Converter: Can step up or step down the input voltage.
Isolated SMPS:
Includes a transformer for isolation between input and output.

 Flyback Converter: Simplest and most common, used for low to medium
power applications.
 Forward Converter: Used for higher power levels than fly back, with better
efficiency.
 Push-Pull Converter: Used for medium to high power applications with
balanced drive.
 Half-Bridge Converter: Suitable for higher power levels, offering a good
balance of efficiency and complexity.
 Full-Bridge Converter: Used for very high-power applications, offering the
highest efficiency and power handling.
 3.8 ADVANTAGES AND DISADVANTAGES
Advantages of Switch Mode Power Supplies (SMPS):
1. High Efficiency: SMPS are highly efficient (up to 90% or higher) because
they minimize power loss by switching on and off rapidly and using high-
frequency transformers.
2. Compact Size and Lightweight: The use of high-frequency operation allows
for smaller and lighter transformers and other components, making the
overall unit more compact and easier to integrate into various applications.
3. Wide Input Voltage Range: SMPS can handle a wide range of input
voltages, making them suitable for use in different regions with varying
electrical standards.
4. Stable Output: SMPS provide stable and regulated output voltage even with
variations in input voltage and load conditions, thanks to feedback
mechanisms.
5. Reduced Heat Generation: Higher efficiency translates to less heat
generation, which reduces cooling requirements and enhances reliability.
6. Versatility: They can provide multiple output voltages from a single input
voltage, making them versatile for various applications.
7. Better Power Factor: Many SMPS designs include power factor correction
(PFC) circuits, improving the power factor and reducing the reactive power
in the system.

Disadvantages of Switch Mode Power Supplies (SMPS):

1. Complex Design: SMPS are more complex than linear power supplies,
requiring more components and sophisticated design techniques.
2. Electromagnetic Interference (EMI): The high-frequency switching can
generate electromagnetic interference, which may require additional filtering
and shielding to mitigate.
3. Noise: SMPS can introduce high-frequency noise into the circuit, which can
affect sensitive electronics and require additional filtering.
4. Transient Response: Rapid changes in load can sometimes cause stability
issues or slower transient response compared to linear power supplies.
5. Cost: The complexity and additional components can make SMPS more
expensive to design and manufacture than simpler linear power supplies.
6. Component Stress: High-frequency operation can stress components,
requiring high-quality parts.
7. Maintenance and Repair: The complexity of SMPS can make them more
difficult to troubleshoot, repair, and maintain compared to linear power
supplies.
3.9 THE ARDUINO UNO :
an open-source microcontroller board based on
the Microchip ATmega328P microcontroller (MCU) and developed
by Arduino.cc and initially released in 2010.[2][3] The microcontroller board is
equipped with sets of digital and analog input/output (I/O) pins that may be
interfaced to various expansion boards (shields) and other circuits.[1] The board
has 14 digital I/O pins (six capable of PWM output), 6 analog I/O pins, and is
programmable with the Arduino IDE (Integrated Development Environment),
via a type B USB cable.[4] It can be powered by a USB cable or a barrel
connector that accepts voltages between 7 and 20 volts, such as a rectangular 9-
volt battery. It has the same microcontroller as the Arduino Nano board, and the
same headers as the Leonardo board.[5][6] The hardware reference design is
distributed under a Creative Commons Attribution Share-Alike 2.5 license and
is available on the Arduino website. Layout and production files for some
versions of the hardware are also available

The Arduino Uno is a popular microcontroller board that has gained

widespread popularity among hobbyists, students, and professionals alike. It
provides a simple and accessible platform for learning electronics and
programming, making it an excellent choice for beginners and experienced
users.
 Fig 3.5 Arduino mother board

Key features of the Arduino Uno:

 Microcontroller: ATmega328P (8-bit AVR core)

 Clock speed: 16 MHz
 Flash memory: 32 KB (0.5 KB used by bootloader)
 SRAM: 2 KB
 EEPROM: 1 KB
 Digital I/O pins: 14 (6 can be used as PWM outputs)
 Analog inputs: 6
 USB connection: For programming and power
 Power jack: For external power supply
 ICSP header: For in-circuit serial programming
 Reset button: For resetting the microcontroller
Benefits of using the Arduino Uno:

 Easy to use: The Arduino Uno has a simple and intuitive interface that
makes it easy to get started with programming and electronics.
 Versatile: The Arduino Uno can be used for a wide variety of projects, from
simple blinky lights to complex robotics and IoT applications.
 Community support: The Arduino community is large and active,
providing a wealth of resources, tutorials, and support for users.
 Affordable: The Arduino Uno is a relatively inexpensive board, making it
accessible to users on a budget.
3.10 DC MOTOR

An electric motor is a machine which converts electrical energy to mechanical

energy. Its action is based on the principle that when a current-carrying
conductor is placed in a magnetic field, it experiences a magnetic force whose
direction is given by Fleming‟s left hand rule.
When a motor is in operation, it develops torque. This torque can produce
mechanical rotation. DC motors are also like generators classified into shunt
wound or series wound or compound wound motors.

3.10.1 Fleming’s Left Hand Rule

Keep the force finger, middle finger and thumb of the left hand mutually
perpendicular to one another.

Fig 3.6 Fleming’s Left hand rule

If the fore finger indicates the direction of magnetic field and middle finger
indicates
direction of current in the conductor, then the thumb indicates the direction of
the motion of conductor.
3.11 PRINCIPLE OF OPERATION

A uniform magnetic field in which a straight conductor carrying no current is

placed. The conductor is perpendicular to the direction of the magnetic field.
The conductor is shown as carrying a current away from the viewer, but the
field due to the N and S poles has been removed. There is no movement of the
conductor during the above two conditions. When the current carrying
conductor is placed in the magnetic field, the field due to the current in the
conductor supports the main field above the conductor, but opposes the main
field below the conductor.
The result is to increase the flux density in to the region directly above the
conductor and to reduce the flux density in the region directly below the
conductor. It is found that a force acts on the conductor, trying to push the
conductor downwards as shown by the arrow. If the current in the conductor is
reversed, the strengthening of flux lines occurs below the conductor, and the
conductor will be pushed upwards.
Now consider a single turn coil carrying a current. In view of the reasons given
above, thone side of the coil will be forced to move downwards, whereas the
other side will be forced to move upwards. The forces acting on both the coil
sides will be of same magnitude. But their direction is opposite to one another.
As the coil is wound on the armature core which is supported by the bearings,
the armature will now rotate. The commutator periodically reverses the
direction of current flow through the armature. Therefore the armature will have
a continuous rotation.
A simplified model of such a motor is shown in figure VI. The conductors are
wound over a soft iron core. DC supply is given to the field poles for producing
flux. The conductors are connected to the DC supply through brushes
A simple 2-pole DC electric motor has 6 parts, as shown in the diagram below.
An armature or rotor
A commutator
Brushes
An axle
A field magnet
A DC power supply of some sort

Fig 3.7 Field magnet working

An electric motor is all about magnets and magnetism: a motor uses magnets to
create motion. Opposites attract and likes repel.
So if there are 2 bar magnets with their ends marked north and south, then the
North end of one magnet will attract the South end of the other. On the other
hand, the North end of one magnet will repel the North end of the other (and
similarly south will repel south). Inside an electric motor these attracting and
repelling forces create rotational motion.
In the diagram above, you can see two magnets in the motor, the armature (or
rotor) is an electromagnet, while the field magnet is a permanent magnet (the
field magnet could be an electromagnet as well, but in most small motors it is
not to save power).
3.11.1 Electromagnets and Motors
An electromagnet is the basis of an electric motor. You can understand how
things work in the motor by imagining the following scenario. Say that you
created a simple electromagnet by wrapping 100 loops of wire around a nail and
connecting it to a battery. The nail would become a magnet and have a North
and South pole while the battery is connected.
Now say that you take your nail electromagnet, run an axle through the middle
of it, and you suspended it in the middle of a horseshoe magnet as shown in the
figure below. If you were to attach a battery to the electromagnet so that the
North end of the nail appeared as shown, the basic law of magnetism tells you
what would happen: The North end of the electromagnet would be repelled
from the north end of the horseshoe magnet and attracted to the south end of the
horseshoe magnet.
The South end of the electromagnet would be repelled in a similar way. The nail
would move about half a turn and then stop in the position shown.

You can see that this half-turn of motion is simple and obvious because of the
way magnets naturally attract and repel one another. The key to an electric
motor is to then go one step further so that, at the moment that this half-turn of
motion completes, the field of the electromagnet flips. The flip causes the
electromagnet to complete another half-turn of motion. You flip the magnetic
field simply by changing the direction of the electrons flowing in the wire (you
do that by flipping the battery over). If the field of the electromagnet flipped at
just the right moment at the end of
 Fig 3.8 Electromagnet working

each half-turn of motion, the electric motor would spin freely

3.11.2 The Armature

The armature takes the place of the nail in an electric motor. The armature is an
electromagnet made by coiling thin wire around two or more poles of a metal
core. The armature has an axle, and the commutator is attached to the axle. In
the diagram above you can see three different views of the same armature: front,
side and end-on. In the end-on view the winding is eliminated to make the
commutator more obvious.

Fig 3.9 Armature working

 The commutator is simply a pair of plates attached to the axle. These plate
provide the two connections for the coil of the electromagnet.

3.11.3 The Commutator and brushes

The "flipping the electric field" part of an electric motor is accomplished by two
parts: the commutator and the brushes. The diagram at the right shows how
the commutator and brushes work together to let current flow to the
electromagnet, and also to flip the direction that the electrons are flowing at just
the right moment. The contacts of the commutator are attached to the axle of the
electromagnet, so they spin with the magnet. The brushes are just two pieces of
springy metal or carbon that make contact with the contacts of the commutator.

Fig 3.10 Commutator and brushes working

3.11.4 Putting It All Together

When you put all of these parts together, what you have is a complete electric
motor:

Fig 3.11 Battery with magnet working

In this figure, the armature winding has been left out so that it is easier to see
the commutator in action. The key thing to notice is that as the armature passes
through the horizontal position, the poles of the electromagnet flip. Because of
the flip, the North pole of the electromagnet is always above the axle so it can
repel the field magnet's North pole and attract the field magnet's South pole. If
you ever take apart an electric motor you will find that it contains the same
pieces described above: two small permanent magnets, a commutator, two
brushes and an electromagnet made by winding wire around a piece of metal.
Almost always, however, the rotor will have three poles rather than the two
poles as shown in this article. There are two good reasons for a motor to have
three poles:
It causes the motor to have better dynamics. In a two-pole motor, if the
electromagnet is at the balance point, perfectly horizontal between the two poles
of the field magnet when the motor starts; you can imagine the armature getting
"stuck" there. That never happens in a three-pole motor.
Each time the commutator hits the point where it flips the field in a two-pole
motor, the commutator shorts out the battery (directly connects the positive and
negative terminals) for a moment. This shorting wastes energy and drains the
battery needlessly. A three-pole motor solves this problem as well.

It is possible to have any number of poles, depending on the size of the motor
and the specific application it is being used in.

3.11.5 TORQUE IN MOTOR

By the term torque, it is meant the turning or twisting moment of a force about
an axis. It is measured by the product of the force and the radius at which this
force acts.
For an armature of a motor, to rotate about its centre, a tangential force is
necessary. This force is developed within the motor itself.
Torque (T) = ½ ( Ia / A ) BDC Z Newton meters
Using the relation,
B=φ/a
=φ/(ΠD/P)ł
= φ x P / ( Π Dł )
T = ½ x (Ia / A) x Z x φ x {P/ (ΠDł) } x Dł
= φ Z P Ia / ( 2ΠA ) Newton meters
= 0.159 x φ x Z x Ia X (P/A) Newton meters 37

= 0.162 x φ x Z x Ia x (P/A) Kg-m

The torque given by the above equation is the developed torque in the machine.
But the output torque is less than the developed torque due to friction and
windage losses.
3.12 HC Serial Bluetooth:

An HC Serial Bluetooth module typically refers to a family of Bluetooth

modules, such as the HC-05 or HC-06, which are commonly used in embedded
systems and DIY electronics projects for wireless communication. These
modules allow devices like microcontrollers (e.g., Arduino, Raspberry Pi) to
communicate wirelessly with other Bluetooth-enabled devices, such as
smartphones or PCs.

Fig 3.12 HC-05 Bluetooth module

HC-05 Bluetooth Module

 Mode: Can function as both master and slave.

 Communication: Serial (UART) communication.
 Voltage: 3.3V logic, but often comes with a 5V regulator for VCC.
 Range: Approximately 10 meters.
 Baud Rate: Default is 9600 bps but can be configured.
  Usage: It is often used in situations where a device needs to either
connect to another Bluetooth device (master) or be discovered and
controlled (slave).

HC-06 Bluetooth Module

 Mode: Only works as a slave.

 Communication: Serial (UART) communication.
 Voltage: 3.3V logic with a 5V regulator.
 Range: Similar to the HC-05, around 10 meters.
 Baud Rate: Default is 9600 bps but can also be configured.
 Usage: Simplified version of the HC-05, where the module only acts as a
receiver and is commonly used for simple wireless serial communication.

Common Features

 Communication Protocol: UART (TX, RX).

 Pins: Typically features VCC, GND, TX, RX, and sometimes a key pin
for special functions (in the case of HC-05).
 Applications: Used in robotics, wireless sensor systems, home
automation, and other DIY electronics projects.

Basic Connection to Arduino

1. VCC to 5V or 3.3V (depending on your setup).

2. GND to Ground.
3. TX to RX on Arduino.
4. RX to TX on Arduino (may need a voltage divider for 5V logic).
5. Key (optional, only for HC-05) for configuring the module
3.13 RELAY

A relay is an electrical switch that opens and closes under the control of
another electrical circuit. In the original form, the switch is operated by an
electromagnet to open or close one or many sets of contacts. It was invented by
Joseph Henry in 1835. Because a relay is able to control an output circuit of
higher power than the input circuit, it can be considered to be, in a broad sense,
a form of an electrical amplifier.

Fig 3.13 Relay

Operation

When a current flows through the coil, the resulting magnetic field
attracts an armature that is mechanically linked to a moving contact. The
movement either makes or breaks a connection with a fixed contact. When the
current to the coil is switched off, the armature is returned by a force
approximately half as strong as the magnetic force to its relaxed position.
Usually this is a spring, but gravity is also used commonly in industrial motor
starters. Most relays are manufactured to operate quickly. In a low voltage
application, this is to reduce noise. In a high voltage or high current application,
this is to reduce arcing.

If the coil is energized with DC, a diode is frequently installed across the
coil, to dissipate the energy from the collapsing magnetic field at deactivation,
which would otherwise generate a spike of voltage and might cause damage to
circuit components. Some automotive relays already include that diode inside
the relay case. Alternatively a contact protection network, consisting of a
capacitor and resistor in series, may absorb the surge. If the coil is designed to
be energized with AC, a small copper ring can be crimped to the end of the
solenoid. This "shading ring" creates a small out-of-phase current, which
increases the minimum pull on the armature during the AC cycle.
3.14 RELAY DRIVER CIRCUIT

Fig 3.14 Relay driver circuit

A relay is an electrically operated switch. Current flowing through the

coil of the relay creates a magnetic field which attracts a lever and changes the
switch contacts. The coil current can be on or off so relays have two switch
positions and they are double throw (changeover) switches. Relays allow one
circuit to switch a second circuit which can be completely separate from the
first. For example a low voltage battery circuit can use a relay to switch a 230V
AC mains circuit. There is no electrical connection inside the relay between the
two circuits; the link is magnetic and mechanical.

The coil of a relay passes a relatively large current, typically 30mA for a
12V relay, but it can be as much as 100mA for relays designed to operate from
lower voltages. Most ICs (chips) cannot provide this current and a transistor is
usually used to amplify the small IC current to the larger value required for the
relay coil. The maximum output current for the popular 555 timer IC is 200mA
so these devices can supply relay coils directly without amplification.

Relays are usually SPDT or DPDT but they can have many more sets of
switch contacts, for example relays with 4 sets of changeover contacts are
readily available. Most relays are designed for PCB mounting but you can
solder wires directly to the pins providing you take care to avoid melting the
plastic case of the relay. The animated picture shows a working relay with its
coil and switch contacts. You can see a lever on the left being attracted by
magnetism when the coil is switched on. This lever moves the switch contacts.
There is one set of contacts (SPDT) in the foreground and another behind them,
making the relay DPDT.

The relay's switch connections are usually labeled COM, NC and NO:

 COM = Common, always connect to this, it is the moving part of the

switch.
 NC = Normally Closed, COM is connected to this when the relay coil is
off.
 NO = Normally Open, COM is connected to this when the relay coil is
on.
Relays and Reed Switches

1. Relays:
A relay is a switch worked by an electromagnet. It is useful if we want a
small current in one circuit to control another circuit containing a device such as
a lamp or electric motor which requires a large current, or if we wish several
different switch contacts to be operated simultaneously.

When the controlling current flows through the coil, the soft iron core is
magnetized and attracts the L-shaped soft iron armature. This rocks on its pivot
and opens, closes or changes over, the electrical contacts in the circuit being
controlled it closes the contacts.

The current needed to operate a relay is called the pull-in current and the
dropout current in the coil when the relay just stops working. If the coil
resistance R of a relay is 185  and its operating voltage V is 12V, the pull-in
current I is given by:

I=V = 12 = 0.065A = 65mA

R 185

2. Reed switches:
Relays operate comparatively slowly and for fast switching
of a signal circuit, e.g. in a telephone exchange, reed switches are used. The
reeds are thin strips of easily magnetizable and demagnetizable material. They
are sealed in a glass tube containing an inert gas such as nitrogen to reduce
corrosion of the contacts.

The switch is operated either by bringing a magnet near

or by passing a current through a coil surrounding it. In both cases reeds
become magnetized, attract each other and on touching they complete the circuit
connected to the terminals. They separate when the magnet is removed or the
current stops flowing in the coil.
When the changeover reed switch operates, the reed is
attracted from the non-magnetic contact to the magnetic one.
3. Protection of transistor-controlled relays and reed switches:
When the current in the coil of a reed switch falls to zero, a large voltage
is induced in the coil due to its inductance. This voltage could damage any
transistor used to control the current in the coil. However if a diode is connected
in reverse bias for the supply voltage it offers an easy path to the induced
voltage and stops it building up to a high value.
4. Earth-leakage (or residual current) circuit breaker:
This is sometimes present as a safety device in mains
electrical circuits. In one variety, current passes to earth through a relay-type
‘trip coil’ when for example; the metal case of the appliance becomes ‘live’ due
to a fault. As a result the rod in the coil opens the switch, which can be set to
break the circuit before the case rises above say 25V.
3.15 REMOTE CONTROL

When any key is pressed in the remote, the transmitter section generates
the corresponding RF signal and this signal is received by the receiver section.
Hence it switches the corresponding appliance. A four-channel encoder/decoder
pair is used in this system. The input signals at the transmitter section are taken
from the four switches. the simulation circuit diagram remote control. Below
table 3.1 explains the switch operations

Switch No Operation
Switch 1 Speed 1
Switch 2 Speed 2
Switch 3 Speed 3
Switch 4 sTOP

Tab 3.15 Switch operations

Fig 3.16 Simulation circuit diagram remote control

3.16 TRANSMITTER CIRCUIT

The HT12E encoder IC’s 4 data pins are connected to the 4 Rotary
switch. The rotary switch provide 4-bit data to the HT12E encoder IC. Then
the IC converts these 4-bit data into serial data and this serial data will be
available at the DOUT pin (pin17) of the IC. This output serial data is given
to the RF Transmitter module. Then the RF transmitter module transmits this
serial data using radio signals.At the receiver side, the RF receiver module
receives this serial data coming from the transmitter. Then this serial data is
given to the DIN pin (14) of the HT12D Decoder IC. Now the decoder IC
will convert the received serial data into 4 bit parallel data. The 4 data pins
of the decoder IC are connected to 4 LEDs, which is control according to the
transmitted data from the transmitter.

When we will provide Power supply to both circuits and we should notice
that all LEDs will start glowing. Because the rotary switch pins (IC pin D8-
D11) are pulled up internally by the Encoder IC. If we will press one push-
button the data pin is connected to the ground in the transmitter circuit, then
the respective LED will be turned off in the receiver circuit.For example, if
we will press Switch 1 (S1) which connected to the AD11 (pin13) of the
Encoder IC, then the LED 2 will turn off which is connected to the D11
(pin13) of the Decoder IC.
Fig 3.17 Transmitter circuit board

Fig 3.18 Remote transmitter circuit

3.17 RECEIVER CIRCUIT

The HT12D decoder IC VSS pin is connected to the power supply Ground (-)
and the VDD is connected to the power supply Vout (+) of the 7805 5v voltage
regulator. IC A0 – A7 pins (pin 1 – 8) are connected to the Ground(-) to set the
address at 0b00000000. The LED2, LED3, LED4, and LED5 are respectively
connected to the D11 (13), D10 (12), AD9 (11), and D8 (10). The 33K ohm
resistor is connected between pin 15 and 16, which provides the external
resistance for the operation of the internal oscillator of the HT12D IC. The RF
Receiver module GND pins are connected to the power supply Ground (-) and
the VCC is connected to the power supply VCC (+).The Data pin is connected
to the DIN (pin 14) of the IC.

Fig 3.19 Remote receiver circuit board

Fig 3.20 Remote receiver circuit
3.18 CIRCUIT DIAGRAM

The circuit diagram for wireless speed control of universal motor. The
input 230V AC supply’s neutral terminal is directly connected to the neutral
terminal of universal motor. Controller used to control the speed of the motor.
TRIAC is the driver circuit used to switching the ac supply on/off the motor.
Speed of the motor is continuously monitored by using hall sensor. Hall sensor
feedback will give back to the controller. The controller controls speed of the
motor and runs on standard rpm. Remote control used to control the speed of
the motor in wireless mechanism. The switches to three speed variation.

Fig 3.21 Circuit diagram

3.19 SUMMARY

In this chapter, the block diagram, circuit diagram of Bluetooth transmitter and
receiver circuit and working of speed control have been discussed.
 CHAPTER - 4

RESULT AND FUTURE WORK

4.1 RESULT

In the hardware setup, one DC motor is act as load. During voltage and current
fluctuation the stipulated RPM has been maintained. Using the help of
tachometer.

4.2 FUTURE WORK

This project proposed closed loop speed control of DC motor using the
microcontroller HC05 with wireless communication. Fluctuation in speed is to
change in voltage and load can also be avoided by using feedback mechanism.

In future A remote with an additional LCD touch screen can be designed as an

additional feature II.
 4.3 REFERENCES

[1] A.K.Dewangan,NChakraborty,SShukla,VYadu, “PWM Based Automatic

Closed loop Speed Control Of DC Motor”, International Journal of Engineering
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[2] Muhammad H. Rashid, “Power Electronics Circuits Devices and
Applications”, Prentice Hall, publication New Delhi 2008, 3rd edition, pp.226-
294.
[3] Shruti Shrivastava, Jageshwar Rawat, Amit Agrawal ,“Controlling DC
Motor Using Microcontroller(PIC16F72) With PWM”, International Journal of
Engineering Research, Volume No .1,Issue No. 2,pp.45-47.
[4] Sandeep Kumar Singh, Harish Kumar, Kamal Singh, Amit Patel, “A
Survey And Study Of Different Types Of PWM Techniques Used In Induction
Motor Drive” International Journal of Engineering Science & Advanced
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[5] MOAZZEM, S. RAHMAN, M A MATIN,” Microcontroller based
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[6] Jeetender Singh Chauhan, Dr. Rajesh Singh, Sunil Semwal, Shashank
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Direction Control of DC Motor using Android Mobile Application”,
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