2011 International Conference on Electronic & Mechanical Engineering and Information Technology

PWM Speed Control System of DC motor Based on AT89S51

Zhijun Liu Lianzhi Jiang

School of Electrical and Information Engineering School of Electrical and Information Engineering
Liaoning Institute of Science and Technology Liaoning Institute of Science and Technology
Benxi, China Benxi, China
Izj73@126.com bxjlz1963@163.com

Abstract-This paper presents a new approach of DC motor
PWM speed control, using microcomputer as controller, after
discussing conventional cascade speed control. It introduces
the principle of DC motor PWM speed control and the details
of the realization of the approach base on AT89S51 single-chip
microcomputer. Different duty cycle quadrate waves are
produced by the PI of AT89S51. Different speed grades and
the direction are depended on different buttons. Experiments
have proved that this system is of higher performance.
Keywords-AT89S51; DC motor; PWM
I. INTRODUCTION
In recent years, with scientific and technological progress
and social development, the electronic technology is
developing rapidly, to achieve the portability and low cost
and energy efficient, and the noise limit, a DC motor is used
widely, so, the study of DC motor speed adjustablel'<' is
more practical significance. The traditional method of
control speed was that the resistance is strung in the rotor
circuit or adjust the voltage of electrical machinery circuit ,
the two methods is easy, but they exist some shortcomings:
The smooth character is bad and the characteristic is soft in
low speed ,The motor speed will be changed larger when the
load is changed; The motor speed is very hard to get a low
when the load is light ;The larger the I resistance are, the
greater its losses are, the Efficiency reduce noticeably.
Therefore, a new kind of speed control method is called
PWM(pulse width modulation) speed regulating system[3]
has been widely used in the motor control speed. It is being
applied to every field and has been product-Frequency
Converter. With the wide use of PWM technological, the
power energy can make full use of and the circuit efficient is
very high. This paper utilizes the timing of the
microcontroller timer function, outputs analog PWM signal
at the P1.0 pin, to adjust the duty cycle according to the
number of different pulse high, thus to achieve the
governor's role.
Where: U a is the armature terminal voltage; la is
armature current; R a is equivalent resistance of armature
circuit; ¢ is each level of magnetic flux.
There are so many ways to speed. For instance, armature
voltage control method can be used and excitation control
method, but excitation control method by the magnetic
saturation in the low speed limit, at high speed by changing
the restrictions to the spark and the commentator, the larger
field coil inductance will affect the dynamic response,
therefore armature voltage control method is often currently
used.
Armature voltage can be adjusted series resistance of the
armature loop method, but this is inefficient, and has been
replaced by the chopper, which consists of the AC power
supply, AC adapter with DC rectifier circuit and then the
PWM chopper the chopper. Chopper motor loss not only is
small, but also gives fast dynamic response, so it is widely
used.
III. PWM SR PRINCIPLE AND CIRCUIT
Bridge choppert' shown in Figure 1, the equivalent
circuit, allows both positive and negative direction of the
motor in the SR, transistors V~, VT4 turn on, VT2 , VT3 cut
off and the motor turns forward. Similarly, VT2 , VT3 turn
off the motor rolls back. Suppose turning off V~ , VT4 after
it has turned on ~ seconds and then a period of dead zone,
when VT2 , VT3 turn on for T2 seconds, cut off it
immediately. So repeatedly, at both ends of the armature
voltage.

II. DC MOTOR SPEED CONTROL PRINCIPLE

Expression for DC motor speed (r / min)
Ua-laRa
n==----- (1)
Ce ¢
Figure 1. Bridge chopper circuit

978-1-61284-088-8/11/$26.00 ©2011 IEEE 1301 12-14 August, 2011

 Waveform is shown in Figure 2. forward, key 4 the fastest .There are 4 levels, while touching
the No. 5,6,7,8 button, the motor turns back. Therefore the
Va
duty cycle a ranges from 1/ 8 to 8 / 8 .
V"!
lOOk

T t
A PI.l

T P12

Figure 2. the armature voltage waveform

U = T[U d _ TZUd T[ - (T - T[)U d

a T T T
(2)
2T -T Figure 3. Single-chip microcomputer control speed principle
== 1 U d == (2a -l)Ud
T
For a is the duty cycle 0 < a < 1 so
Assuming a pulse is 30ms, a square wave pulse of 8
- U d < U a < +U a : change the size of U a by changing cycles is period of 240ms. Setting the frequency of AT89S51
the size of a . When 0 < a < 0.5 ,the motor turns back. is 11.0952MHZ, when the pl.0 pin outputs a high level in a
When a == 0, the motor has the maximum speed of reversal; period, the duty cycle is a == 1/8 , the motor reverses in
when 0.5 < a < 1, the motor turns forward, as a == 1, it high speed. When a == 0.5 , the motor stops running.
moves in the maximum speed. When a == 5 / 8 , the motor runs at low speed. When a == 1,
the motor runs forward at full speed. As is shown in Figure 4.
IV. THE SINGLE CHIP MICROCOMPUTER CONTROL DC

J
MOTOR CONTROL METHOD
SR ~art of the circuit controlled by AT89S51 MCV
shown!" ] in Figure 3, S is the motor start switch, output 3
waveforms of different duty cycle with the P1.0 pin, make 3 a ==-
8
x 3 ranks of the keyboard with P 1.2 P 1.7, which key 0 is
r--.J

the motor stop button, regulate speed in 8 grades, which 1 r--.J

Figure 4. the number of different high pulse
4 are the motor forward speed, 5 to 8 are for the motor speed
reversal. P 1.1 , the smooth speed, rated speed can be set in B. Pl. 0 pin realization ofthe output waveform
the host computer; when the S key is broken, Pl.0 is high,
There are two timer/counters TO and Tl inside AT89S51,
the opt coupler turns on, VI; base is extremely low, in whichTO is set to work 1, counted every 16 bit. At this
VTs close, V~, VT4 , VT6 turn, VT2 , VT3 , VT7 stop, +5 V moment, the mode value of TO is 65536, the system of the
time period T is 1 f.1S , then the initial value[8-1O] TO is:
power supply forms a pathway through the motor at both
ends having the positive voltage, the motor is transferred.
TO = 65536 _!...- = 65536 _ 30ms
Conversely, when P1.0 is low, the opt coupler turns off,
T If.1S (3)
VI; base IS extremely high, VTs conducts, thus
== 35536 == 8ADOH
VT2 , VT3 , VT7 lead pass, V~, VT4 ,VT6 cut off, reverse Therefore THO = 8AH; TLO = ODOH
voltage across the motor and the motor moves back. TO timer is initialized as following:
MOV TMOD, # 01H
A. Pl.O pin output waveform
MOV THO, # 8AH
AT89S51 outputs different duty cycle square wave with MOV TLO, # ODOH
Pl.0 pin, and makes the ranks of3 x 3 keyboard with Pl.2 r--.J
Setb TRO
P1.7, shown in Figure 3. When pressing the keys 1,2,3,4, the Setb ETO
motor is transferred, transfer speed of key 1 is the slowest Setb EA

1302
C. Flowchart V Conclusions
DC motor speed control flow chart shown in Figure 5: The paper takes advantage of AT89S51as the processor
Interrupt service DC motor PWM speed control system to improve the control
procedure precision. It is proved to be operated so simple that the
system can be applied in small motor control system.
main
REFERENCES

[1] Zhu zhutong. the changed frequency Technique of Communicate

speed control, beijing: metallurgy industry press. 1993.
[2] Chen boashi. Establishment of Electricity Pull Automation Control
System, 3rd.Beijing:Machine Press,2003.
[3] Ding jie,Wang kecheng. A New Type Speed Regulator for a PWM
Speed Regulating System, Journal of Anshan Institute of Science And
Cycle R7=8-
Technology,2003,2:8-11
Key number
[4] Wang jianpu. "The Research of Bridge Chopper Circuit Base on
single-chip Microcomputer", Technology ofMotor,2009,4: 19-21.
[5] Song jian, Jiang junsheng, Zhao wenliang. "The DC-motor PWM
Speed Regularsystem Base on single-chip Microcomputer". Study on
Agricultural Mechanization,2006, 1(1):102-103.
[6] Liang yibo, Wang zhengmao, He tao. "The Principle And
Mathematical Model of All Digtal DC Motor Regular Speed". The
middle or small power motors,2001,28(6).: 17-20
y [7] Chen guangxian. "A Design PWM Speed Controller of DC Motor
Using Single-chip Microcontroller".Journal of Zhanjiang Normal
Outpt 8- College,2008,6: 123-125
R7Low
level [8] WILLIMASON S, FERREIRA A C,WALLACE A k, "Generalised
theory of the brushless doubly-fed machine par lanalis".IEE Pro
Elector Power Appl.I997,144(2): 111-222
[9] Zhou D,SPEE R,ALEXANDER A C. "Experimental evaluation of a
rotor flux Oriented control algorithm for brushless double-fed
N machine".IEEE Trans Power Electron ,1997,12(1):72-78
Stop?
[10] XU L,LIANG F,LIPO T A. Transient model of a doubleg reluctance
motor[J].IEEE Trans Energy Conver,1991,6(1): 126-133

Figure 5. Flow chart shown

1303