International Journal of Advancements in Research & Technology, Volume 2, Issue4, April‐2013 369 ISSN 2278‐7763 Improvement of Response of a Prototype DC Motor Using
Different Controllers
1
P M Ilius, 2P M Rakibul, 3M Z Heider
1
Electrical and Electronic Engineering, Rajshahi University of Enginnering & Technology, Rajshahi, Bangladesh, 2Home Technician, Bogra, Bangladsh, 3Electrical and Electronic Engineering, Rajshahi University of Enginnering & Technology, Rajshahi, Bangladesh.
E-mail: 1pmilius2501@gmail.com, 2pmrakibul@gmail.com, 3zulfiker_ruet06@yahoo.com
ABSTRACT
This paper represents the selection of range of controller parameters with proper choice of controller which is
suitable with DC motor. Control engineering parameters, percentage overshoot (%OS), rise time ( t r ), peak time
( t p ), steady state time ( ) and settling time ( t s ) are the parameters by which improvement of response of a
prototype DC motor has been analyzed coupling different controllers with the motor. Transfer function of both,
controller and motor that means transfer function with respect to motor speed has been derived for analyzing the
response. Comparison has been done among different controllers, P controller, PI controller, PD controller, PID
controller with respect to speed of the motor for choosing suitable controller to control the speed of motor for
pursuing its speed at perfect level so that it can be used for precise level work also. Adjustment of proportional gain
( ), integral time ( ), and derivative time ( ) have been observed to find out the appropriate range of these
parameters for minimizing overshoot and getting fast response. The system is simulated using MATLAB program
and Simulink browser to analyze the performance of the motor with and without controller and comparison has
been made among the responses for choosing appropriate controller for this kind of DC motor.
Key Words: - DC Motor, Controller, Response, Transfer Function, Simulation.
1 INTRODUCTION
DC motor has been widely used in industry even
though its maintenance costs are higher than the induction motor [1]. Eventually, speed control of DC motor has
attracted considerable research and several methods have developed. Proportional-Integral Derivative (PID) control technique has been widely used for speed and position control of
DC motor.
PID is the most commonly used feedback controller which
is widely used in industrial control systems as a generic feedback control loop mechanism, has been described in literature
and is normally being applied in practical application. Difference between a measured process variable and a desired target point is an error value that calculates a PID controller to
minimize the error by adjusting the process control inputs and
output of plant through a feedback loop.
Proposal on Swarm-intelligence-based parallel optimization
algorithm, Particle Swarm Optimization (PSO), has been given
by Kennedy and Eberhart [2] in 1995. A realistic performance
on pattern classification, optimization and controller parameters design is described using PSO [3]. Temperature and business systems are controlled using different controllers some of
which are automatic controllers and some of which are manual controllers. To design these controllers, different methods
are used for selecting the parameters value such as Ziegler
) and critical
Nichols tuning rules based on critical gain (
period ( ) [4].
For improving the performance of a separately excited DC
Copyright © 2013 SciResPub.
motor, proportional controller has been used in cascaded control system [5]. To improve the performance of DC motor
without controller, study of adjustment of different parameters of DC motor is done which is described in literature [6].
Microcontroller based PID has been design for controlling DC
motor in real time [7].
In this study, choice of controller for a prototype DC motor
is analyzed varying mainly the proportional gain, integral
gain and derivative gain with two time parameters, integral
time and derivative time. Also the range of parameters is analyzed step by step.
2 MATHEMATICAL MODELING
In case of finding out the mathematical model of dynamic
systems that means motor and controllers, some parameters
are needed to be introduced. The models are described simultaneously.
2.1 Motor Model
In the analysis of DC motors, the equations for the motor
indicate the presence of two time constants these are related to
transfer function of the motor. One is a mechanical time constant and the other is an electrical time constant. Also these
two time constants are related to armature resistance and inductance, motor torque constant, back EMF constant and
equivalent inertia constant. The equivalent circuit diagram
and equations are derived below [8].
International Journal of Advancements in Research & Technology, Volume 2, Issue4, April‐2013 370 ISSN 2278‐7763 (5)
+
ia 
+
T
-
-
Where,
ea(t)= Applied armature voltage (Volts)
ia(t)= Applied armature current (Amps)
Jm= Equivalent inertia constant (Kg-m2)
Dm= Equivalent viscous damping constant (N- m-s/rad)
Kt= Motor torque constant (N-m/A)
Ke= Motor back EMF constant (V/rad/sec)
Vm= Motor velocity (rad/sec)
T= Motor torque (N-m)
Ra= Armature resistance (Ω)
La= Armature inductance (Ω)
= Back EMF of motor (volts)
According to KVL-
(1)
Since the current-carrying armature is rotating in the magnetic
field, its voltage is proportional to speed. Thus, for back EMF
of motor is-
(2)
So the equation is-

L 
ea  1  S a ia Ra  K eVm
Ra 

The torque is developed by the motor is proportional to the
armature current; thus,
T  K t ia
(4)
is
Where T is the torque developed by the motor, and
the constant of proportionality, called the motor torque constant, which depends on the motor and magnetic field characis equal to
teristics. In a consistent set of units, the value of
.
the value of
Copyright © 2013 SciResPub.
(6)

L  SJ mVm  DmVm 
ea  1  S a 
Ra  K eVm
Ra 
Kt

1
Vm
Ke

ea  Ra SJ m  Dm   La
J R
J D
S  m a S  m m 1


Kt Ke
Kt Ke
Kt Ke

 Ra
1
Ke
Vm

e a  R a J m  La 2  D m R a La R a J m 
J m Dm

1
S 


S 
Kt Ke
 K t K e  Ra
 K t K e Ra K t K e 
1
Vm
Ke

2
ea t m t e S  t d t e  t m S  (t d  1)
(7)
Where the mechanical time constant is
tm 
Ra J m
Kt Ke
(8)
and electrical time constant is
te 
(3)
SJ mVm  DmVm
Kt
La
Ra
(9)
And the damping factor is
 = 0.5
tm
(10)
te
In block diagram, the transfer function can be represented as
ea
Transfer function
Vm
Where the feed forward transfer function and gain are---
International Journal of Advancements in Research & Technology, Volume 2, Issue4, April‐2013 371 ISSN 2278‐7763 G
Kt
La S  Ra J m S  Dm 
H  Ke
(11)
(12)
So, the closed loop system of motor in block diagram representation is given below:
t
u (t )  K i  e(t )dt
(15)
0
Where,
Ki
is an adjustable constant. The transfer function of
the integral controller is
U ( s) K i

E ( s)
s
G(s)
(16)
2.2.3 Proportional-Integral (PI) control action
H(s)
The control action of PI controller is defined by
2.2 Controller Model
u (t )  K p e(t ) 
An automatic controller compares the actual value of the
plant output with the
reference input (desired value), determines the deviation and produces a control signal that will
reduce the deviation to zero or to a small value. The manner in
which the automatic controller produces the control signal is
called the control action. Different controllers are derived in
mathematical form of its transfer function.
For a controller with proportional control action, the relationship between the output of the controller u (t) and the actuating error signal e (t) is
u (t )  K p e(t )
(13)
U ( s)
 Kp
E ( s)
(14)
Where,
K p is termed as proportional gain.
2.2.2 Integral (I) control action
In a controller with integral control action, the value of the
controller output u (t) is changed at a rate proportional to the
actuating error signal e (t). That is
du (t )
 K i e(t )
dt
So the output is
Copyright © 2013 SciResPub.
Ti
t
 e(t )dt
0
The transfer function of the controller is

1 
U ( s)

 K p 1 
E ( s)
 Ti S 
Where,
2.2.1 Proportional (P) control action
Kp
Ti
(17)
is known as the integral time.
2.2.4 Proportional-derivative (PD) control action
The control action of PD controller is defined by
u (t )  K p e(t )  K p Td
de(t )
dt
So, the transfer function of the controller is
U ( s)
 K p 1  Td S 
E ( s)
Where,
Td
(18)
is known as the derivative time.
2.2.5 Proportional-Integral-derivative (PID) control
action
The combination of proportional control action, integral
control action and derivative control action is termed as PID
control action. This combined action has the advantages of
International Journal of Advancements in Research & Technology, Volume 2, Issue4, April‐2013 372 ISSN 2278‐7763 each of the three individual control actions. The equation of a
controller with this combined action is given by
u (t )  K p e(t ) 
Kp
Ti
t
 e(t )dt  K pTd
0
H  Ke
de(t )
dt
So, the closed loop transfer function is derived from the
equation below:
So, the transfer function of the control action is
H1 


1
U ( s)
 K p 1 
 Td S 
E ( s)

 Ti S


1
Gc  K p 1 
 Td S 

 Ti S
Where, K p is termed as the proportional gain, Ti
the integral time and
3
Td
and
G1
1  G1 H
(20)
Simplifying the equation we can get the final equation of
transfer function of motor with PID controller.
(19)
is known as
is known as derivative time.
MATHEMATICAL MODEL OF MOTOR WITH
CONTROLLER
The response of the motor is different with different controller. So, controller, which is suitable with the motor and for
finding out the better range of the respective controller’s parameters value, transfer function of the motor with control
action is needed. So, these transfer functions are derived successively below:
Similarly we get the transfer function of motor with P controller, PI controller and PD controller which is given below in
successive way.
H  Ke
G1 
(21)
Kt K p
La S  Ra J m S  Dm 

1 

K t K p 1 
Ti S 

G1 
La S  Ra J m S  Dm 
G1 
K t K p 1  Td S 
La S  Ra J m S  Dm 
(22)
(23)
(24)
For simplification, the common equation for all cases is--The transfer function with PID controller is derived from
the block diagram given below:
Gc (s )
H1 
H(s)
The feed forward transfer function and gain are successively--
Copyright © 2013 SciResPub.
(25)
G(s)
4


1
K t K p 1 
 Td S 
 Ti S

G1 
La S  Ra J m S  Dm 
G1
1 G1 H
SIMULATED RESULT
To select a suitable controller for a DC motor and choosing appropriate range of the controller’s parameter, close loop
transfer function is simulated by programming in MATLAB
file and closed loop transfer function with feedback gain is
used for simulation using Simulink browser in MATLAB. For
simulation, three parameters, proportional gain, integral time
and derivative time are considered.
4.1 Results Without Controller
International Journal of Advancements in Research & Technology, Volume 2, Issue4, April‐2013 373 ISSN 2278‐7763 Overshoot, peak time, rise time, settling time and steady
state time are accumulated in a table from the related curve
these are given below.
Fig.2. Step response of DC motor with P controller
TABLE 2
Step Response of DC Motor Without Controller
0.7
VALUES OF RESPONSED PARAMETERS WITH P CONTROLLER
0.6
Amplitude
0.5
Kp<200
0.4
Obs.
%OS
tp
Peak
Time
(ms)
tr
Rise
Time
(ms)
ts
Settling
Time
(ms)
Blue
72.2
612
220
Green
79.5
434
Red
86.2
281
0.3
0.2
7410
tss
steady
State
Time
(ms)
12000
25
152
7060
12000
50
96.6
7330
12000
120
0.1
0
0
2
4
6
8
10
12
Kp
Time (sec)
Fig.1. Step response of DC motor without controller
TABLE 1
VALUES OF RESPONSED PARAMETERS WITHOUT CONTROLLER
Step Response of DC Motor Varying Parameter of P Controller
1.4
1.2
%OS
Blue
19.6
tp
Peak
time
(ms)
tr
Rise
Time
(ms)
ts
Settling
Time
(ms)
3010
1360
7240
tss
Steady
State
Time
(ms)
12000
Kp
1
Amplitude
Obs.
0.8
0.6
Red(Kp=340)
0.4
0
Green(Kp=270)
Blue(Kp=220)
0.2
0
0
2
4
6
8
10
12
Time (sec)
4.2 Results With P Controller
Fig.3. Step response of DC motor with P controller
Result in terms of control engineering parameters is arranged varying proportional gain in below:
TABLE 3
VALUES OF RESPONSED PARAMETERS WITH P CONTROLLER
Step Response of DC Motor Varying Parameter of P Controller
1.4
1.2
Amplitude
1
200<Kp<500
0.8
0.6
0.4
0
2
4
6
Time (sec)
Copyright © 2013 SciResPub.
8
10
707
220
187
636
7320
12000
270
167
566
7360
12000
340
tp
Peak
Time
(ms)
tr
Rise
Time
(ms)
Blue
89.6
207
Green
90.6
Red
91.6
Blue(Kp=25)
0
tss
Steady
State
Time
(ms)
12000
%OS
Green(Kp=50)
0.2
ts
Settling
Time
(ms)
7290
Obs.
Red(Kp=120)
12
Kp
International Journal of Advancements in Research & Technology, Volume 2, Issue4, April‐2013 374 ISSN 2278‐7763 From fig.2, fig.3 and table 2, table3, we can observe that if
Kp
Step Response of DC Motor Varying Parameters of PI Controller
towards increasing, it is clear that
overshoot increases but peak time and rise time decrease and
steady state time is constant but too large. Though rise time
and peak time are less than from the response without controller but overshoot is too high than normal and other response
are almost similar with without controller.
1.4
1.2
1
Amplitude
we vary the value of
0.8
0.6
0.4
4.3 Results With PI Controller
Green(Kp=50)
Blue(Kp=25)
0.2
To observe the value of peak time, overshoot, rise time,
settling time and steady state time, all have been summarized
with corresponding figure in below:
Ti=3.6
0
0
5
10
15
Time (sec)
Fig.5. Step response of DC motor with PI controller
TABLE 5
Step Response of DC Motor Varying Parameters of PI Controller
VALUES OF RESPONSED PARAMETERS WITH PI CONTROLLER
1.4
1.2
Amplitude
1
0.8
Kp<200 and
0.6
0.4
Obs.
%OS
tp
Peak
Time
(ms)
tr
Rise
Time
(ms)
ts
Settling
Time
(ms)
Blue
78.3
615
217
Green
84.2
435
151
Green(Kp=50)
Blue(Kp=25)
0.2
Ti=1.2
0
0
5
10
15
20
25
30
35
40
45
50
Time (sec)
Fig.4. Step response of DC motor with PI controller
=3.6
Kp
9940
tss
Steady
State
Time
(ms)
15000
10000
14000
50
25
TABLE 4
VALUES OF RESPONSED PARAMETERS WITH PI CONTROLLER
Kp<200 and
=1.2
Obs.
%OS
tp
Peak
Time
(ms)
tr
Rise
Time
(ms)
ts
Settling
Time
(ms)
Blue
92.8
615
208
95
435
146
Green
Copyright © 2013 SciResPub.
Kp
34500
tss
Steady
State
Time
(ms)
50000
34800
50000
50
From fig.4, fig.5 and table 4, table5, for varying the proportional gain in one stage which is less than 200 but the integral
time in two stages for same value of proportional gain, we
observe that increasing Kp makes the value of all parameters
higher except the rise time. Normally when overshoot becomes high then rise time fall down. But if we increase integral time then system becomes faster with less overshoot
when peak time is same.
4.4 Results With PD Controller
25
To observe the value of peak time, overshoot, rise time,
settling time and steady state time, all have been summarized
with corresponding figure in below:
International Journal of Advancements in Research & Technology, Volume 2, Issue4, April‐2013 375 ISSN 2278‐7763 Step Response of DC Motor Varying Parameters of PD Controller
TABLE 7
0.7
0.6
VALUES OF RESPONSED PARAMETERS WITH PD CONTROLLER
Amplitude
0.5
200<Kp<500 and
0.4
Cyan(Kp=190)
0.3
Obs.
%OS
tp
Peak
Time
(ms)
tr
Rise
Time
(ms)
ts
Settling
Time
(ms)
Blue
0.553
>45
16.1
Green
0.458
>40
TABLE 6
Red
0.369
VALUES OF RESPONSED PARAMETERS WITH PD CONTROLLER
Cyan
0.283
Red(Kp=120)
Green(Kp=50)
0.2
Blue(Kp=25)
0.1
0
0.2
0.4
0.6
0.8
1
1.2
1.4
Time (sec)
Fig.6. Step response of DC motor with PD controller
Kp<200 and
Blue
3.22
406
129
717
tss
Steady
State
Time
(ms)
1400
Green
1.96
214
65.6
106
1200
50
Red
0.953
117
29
50
3000
120
Obs.
%OS
Cyan
0.633
tp
Peak
Time
(ms)
tr
Rise
Time
(ms)
80.4
ts
Settling
Time
(ms)
18.6
31.6
60
Kp
27.5
220
13.2
22.6
40
270
>30
10.5
18.2
30
340
38.5
7.97
13.9
25
450
In fig.6, fig.7 and table 6, table7, proportional gain is varied
from 0 to 200 and then from 200 to 500 keeping derivative time
constant at 0.583 that means derivative gain is proportionally
changed to proportional gain. In this case we observe that
overshoot, peak time, rise time, settling time all decrease with
faster response.
Kp
25
0.6
0.5
Step Response of DC Motor Varying Parameters of PD Controller
0.7
190
Amplitude
0
Td=0.583
tss
Steady
State
time
(ms)
45
0.4
Cyan(Kp=190)
0.3
Red(Kp=120)
Green(Kp=50)
0.2
Blue(Kp=25)
Td=1.749
0.1
0
0
0.02
0.04
0.06
0.08
0.1
0.12
0.14
Time (sec)
Step Response of DC Motor Varying Parameters of PD Controller
0.7
Fig.8. Step response of DC motor with PD controller
0.6
TABLE 8
Amplitude
0.5
VALUES OF RESPONSED PARAMETERS WITH PD CONTROLLER
0.4
Cyan(Kp=450)
0.3
Red(Kp=340)
Green(Kp=270)
0.2
Blue(Kp=220)
0.1
0
Td=0.583
0
0.005
0.01
0.015
0.02
0.025
0.03
Time (sec)
Fig.7. Step response of DC motor with PD controller
Copyright © 2013 SciResPub.
0.035
0.04
0.045
International Journal of Advancements in Research & Technology, Volume 2, Issue4, April‐2013 376 ISSN 2278‐7763 Kp<200 and
Step Response of DC Motor Varying Parameters of PID Controller
%OS
Blue
0.0012
Green
0
Red
0
Cyan
0
tp
Peak
Time
(ms)
tr
Rise
Time
(ms)
>140
47.7
>70
24
>30
42.5
10
>18
ts
Settling
tlingTime
(ms)
85
70
17.9
6.34
tss
Steady
State
Time
(ms)
140
30
11.3
18
Kp
0.7
0.6
0.5
25
50
Amplitude
Obs.
Cyan(Kp=190)
0.4
Red(Kp=120)
0.3
Green(Kp=50)
120
0.2
190
0.1
Blue(Kp=25)
Ti=1.2
0
Td=0.583
0
0.5
1
1.5
2
2.5
3
3.5
4
Time (sec)
Fig.10. Step response of DC motor with PID controller
Step Response of DC Motor Varying Parameters of PD Controller
0.7
TABLE 9
0.6
Amplitude
0.5
VALUES OF RESPONSED PARAMETERS WITH PID CONTROLLER
0.4
Cyan(Kp=450)
0.3
Red(Kp=340)
0.2
Green(Kp=270)
Kp<200 ,
Blue(Kp=220)
0.1
=1.2 and
=0.583
Td=1.749
0
0
0.005
0.01
0.015
Obs.
%OS
Blue
4.12
511
129
1440
Steady
State
Time
(ms)
2500
Green
2.14
285
66.3
504
4000
50
4.5 Results With PID Controller
Red
0.904
145
29.4
49.1
90
120
To observe the value of peak time, overshoot, rise time,
settling time and steady state time, all have been summarized
with corresponding figure in below:
Cyan
0.571
91.4
18.7
32
60
190
Time (sec)
Fig.9. Step response of DC motor with PD controller
If we again the value of proportional gain constant vary (In
fig.8, fig.9 and table 8) from 0 to 200 and then from 200 to 500
using derivative time 1.749 for both cases, system becomes too
fast decreasing all parameters with small overshoot.
Copyright © 2013 SciResPub.
Peak
Time
(ms)
Rise
Time
(ms)
Settling
Time
(ms)
25
International Journal of Advancements in Research & Technology, Volume 2, Issue4, April‐2013 377 ISSN 2278‐7763 Step Response of DC Motor Varying Parameters of PID Controller
0.7
0.6
0.5
Step Response of DC Motor Varying Parameters of PID Controller
Amplitude
0.7
0.6
Cyan(Kp=190)
0.4
Red(Kp=120)
Green(Kp=50)
0.3
0.5
Blue(Kp=25)
Amplitude
0.2
Ti=3.6
Cyan(Kp=450)
0.4
0.1
Td=1.749
Red(Kp=340)
0.3
0
Green(Kp=270)
0
0.02
0.04
0.06
0.08
0.1
0.12
0.14
Time (sec)
0.2
Blue(Kp=220)
Fig.12. Step response of DC motor with PID controller
Ti=1.2
0.1
Td=0.583
TABLE 11
0
0
0.005
0.01
0.015
0.02
0.025
0.03
0.035
0.04
0.045
Time (sec)
VALUES OF RESPONSED PARAMETERS WITH PID CONTROLLER
Fig.11. Step response of DC motor with PID controller
TABLE 10
Kp<200 ,
VALUES OF RESPONSED PARAMETERS WITH PID CONTROLLER
200<Kp<500 ,
=1.2 and
Blue
0.493
>45
16.2
27.8
Green
0.401
>40
13.2
22.9
40
270
Red
0.318
>30
10.5
18.3
30
340
%OS
tp
Peak
Time
(ms)
tr
Rise
Time
(ms)
ts
Settling
Time
(ms)
Kp
220
=1.749
Obs.
%OS
tp
Peak
Time
(ms)
tr
Rise
Time
(ms)
ts
Settling
Time
(ms)
Blue
0
>140
49.9
Green
0
>70
Red
0
Cyan
0
=0.583
tss
Steady
State
Time
(ms)
45
Obs.
=3.6 and
101
tss
Steady
state
Time
(ms)
140
Kp
25
24.5
46
70
50
>30
10.1
18.4
30
120
>18
6.38
11.5
18
190
Step Response of DC Motor Varying Parameters of PID Controller
0.7
Cyan
0.239
38.5
7.99
13.9
25
450
0.6
In fig.10, fig.11 and table 9, table10, for changing proportional gain from 0 to 200 and then from 200 to 500 keeping
integral time constant at 1.2 and derivative time constant at
0.583 that means integral gain and derivative gain are changed
proportionally to proportional gain. In this case curves show
that the overshoot decreases with faster response.
Amplitude
0.5
0.4
Cyan(Kp=450)
Red(Kp=340)
0.3
Green(Kp=270)
Blue(Kp=220)
0.2
Ti=3.6
0.1
0
Td=1.749
0
0.005
0.01
Time (sec)
Fig.13. Step response of DC motor with PID controller
Copyright © 2013 SciResPub.
0.015
International Journal of Advancements in Research & Technology, Volume 2, Issue4, April‐2013 378 ISSN 2278‐7763 response of motor. On the other hand, decreasing value of
proportional gain that means increasing integral time is better
for better response of DC motor. But we can conclude that
integral action is not suitable for DC motor.
TABLE 12
VALUES OF RESPONSED PARAMETERS WITH PID CONTROLLER
200<Kp<500 ,
=3.6 and
=1.749
Obs.
%OS
tp
Peak
Time
(ms)
tr
Rise
Time
(ms)
ts
Settling
Time
(ms)
9.9
tss
Steady
State
Time
(ms)
15
Blue
0
>15
5.5
Green
0
>12
Red
small
Cyan
0
Kp
220
4.48
8.05
12
270
>10
3.56
6.38
10
340
>8
2.69
4.81
8
450
From fig.12, fig.13 and table11, table12, we can observe that,
if we again change the proportional gain constant from 0 to
200 and then from 200 to 500 for constant integral time of 3.6
and constant derivative time of 1.749, these are increased from
1.2 and 0.583 successively, response becomes more faster than
without controller with less overshoot. So, response becomes
better for increasing both, proportional gain and derivative
time but problem remains for increasing integral time. As the
lessen value of integral time means higher value of integral
gain which is better for obtaining better response.
5 CONCLUSION ON RESULT
In summary, it can be concluded that proportional controller and proportional-integral controllers are the worst suited
for the DC prototype motor explained in this paper because
response of the motor without controller is better than with P
controller and PI controller.
But motor with PD controller and PID controller provides
much better response than without controller. Choice of some
values of proportional gain, integral time and derivative time
provide slight better result for PD controller than PID controller and some values provide slight better result for PID controller than PD controller.
Finally, analysis shows that the increasing values of proportional gain and derivative gain provide better result of the
Copyright © 2013 SciResPub.
In case of PD and PID controllers, increasing proportional
gain is better until a specific value but all other cases show
that increasing proportional gain is not suitable for DC motor
response. As both of the controllers, PD and PID have acceptable output when these are coupled with DC motor, so
which one will be chosen with corresponding parameters
that will depend upon some factors such as maintenance cost,
manufacturing cost, purpose, operation, flexibility and reliability etc. for designing a DC motor of precise output.
Acknowledgment
The authors wish to thank Mr. Md. Shanowar Hossain who
has helped us in different ways and continiously encouraged
us.
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International Journal of Advancements in Research & Technology, Volume 2, Issue4, April‐2013 379 ISSN 2278‐7763 Copyright © 2013 SciResPub.