A Closed Loop Speed and Current Control of BLDC Motor Drive

V.Mahitha M.Tech Student Department of Electrical and Electronics Engineering, G. ulla !edd" engineering college# $urnool %Dt&# A. , 'ndia. G.Satheesh Assistant rofessor Department of Electrical ( Electronics Engineering, G. ulla !edd" engineering college# $urnool %Dt&# A. , 'ndia R. Ram Prasad Assistant rofessor Department of Electrical and Electronics Engineering, )B$!'ST, *a+adu, )ellore, A. , 'ndia

Abstract- Brushless Direct Current (BLDC) motors are one o the motor t!"es ra"idl! #ainin# "o"ularit!. BLDC motors ha$e man! ad$anta#es o$er brushed DC motors and induction motors. A e% o these are Better s"eed $ersus tor&ue characteristics' hi#h d!namic res"onse and hi#h e icienc!. (he s"eed can be controlled in a closed loo" b! measurin# the actual s"eed o the motor. (he error in the set s"eed and actual s"eed is calculated. BLDC motors are $er! "o"ular in a %ide arra! o a""lications. Com"ared to a DC motor' the BLDC motor uses an electric commutator' re"lacin# the mechanical commutator) thus ma*in# it more reliable than the DC motor. +n BLDC motors' rotor ma#nets #enerate the rotor,s ma#netic lu-' allo%in# BLDC motors to achie$e hi#her e icienc!. (here ore' BLDC motors ma! be used in hi#h-end %hite #oods' hi#h-end "um"s' ans' and other a""liances that re&uire hi#h reliabilit! and e icienc!. (he de$elo"ed model o the Motor and its s"eed characteristics ha$e been studied and sho% b! usin# the Matlab.simulin*. /e!%ords- BLDC motor' Pulse %idth modulation and Pro"ortional +nte#rator.

performance electric motors. But this ma" lead to increase in cost and 1ul+iness of the multiple coil /indings. 3ith the help of several current /aveforms the tor0ue 4 ripple harmonics have 1een reduced for 1rushless motors. This control approach produces accurate tor0ue in electric motors and their underl"ing models. Tor0ue ripple produced 1" non2ideal current /aveform is minimised /ith the help of feed1ac+ controllers 1" ad5usting the actual phase currents rather than using position sensors. During the commutation period the product of the instantaneous 1ac+ EM6 and current 1oth in t/o2phase produces electromagnetic tor0ue. 3ith the help of mid precision position sensor the pre2stored phase 1ac+ EM6 can 1e o1tained. As a result, tor0ue pulsations due to the commutation are reduced. 7o/ever, phase resistance is neglected and the tor0ue estimation depends on parameters such as dc2lin+ voltage and phase inductance. Moreover, instead of a simple voltage selection loo+2up ta1le techni0ue more sophisticated 3M method is used to drive the BLDC motor. Also, t/o phase conduction method instead of a three2phase one is used /hich is pro1lematic in the high speed applications. A comple. control strateg" %used for BLDC current8speed regulation& are sensitive to variation in parameters, magnetic saturation, un2modeled distur1ances etc. and ma+es the entire s"stem less relia1le. 6or domestic or simple industrial applications /here the variation in operating parameters is not fre0uent, then the control strategies re0uired for BLDC motor should also 1e simple. This simple control strateg" /ill 1e availa1le at lo/ cost and uses simple structure and re0uires minor memor" or processing capa1ilities. This t"pe of BLDC drive is ver" much suita1le for rene/a1le and h"1rid vehicle applications. ,ne of the ma5or considerations in the development of a ro1ust control strateg" is its sta1ilit" /hen the drive is e.posed to sudden variations in operating conditions, such as load tor0ue changes, varia1le2speed re0uests, etc. This is similar to h"steresis control, /here the +e" concern is actuall" in the load. Although h"steresis control is insensitive to motor parameter variations, the sta1ilit" of its normal operations has to 1e verified. Motor, and is re0uired 1" most Brushless DC Motors to operate.

')T!,D-CT',) 'n high performance applications li+e servos to traction drives BLDC motor drives are used e.tensivel" rather than permanent magnet s"nchronous motor % MSM&. BLDC motor possesses high efficienc", high po/er densit", high tor0ue to inertia ratio and simple in control compared to MSM. 'n applications li+e silicon /afer manufacturing, medical, ro1otics and automation industries to the militar" high precision control is re0uired and this can 1e achieva1le /ith the help of ripple free tor0ue control. BLDCs achieve commutation electronicall" 1" incorporating a feed1ac+ from the rotor2position into a control s"stem instead of mechanical commutators found in 1rushed dc motors. Such a controller e.cites the stator coils of the motor in a specific order to rotate the magnetic field generated 1" the coils to 1e follo/ed along 1" the rotor. 'n case of non2ideal motors, the distri1uted magneto motive force is not perfectl" sinusoidal and hence sinusoidal commutation leads to tor0ue ripple. 3ith the suppression of tor0ue ripple the performance of the motor drive performance can 1e improved 1" reducing speed fluctuations. B" improving machine design such as increasing the num1er of motor poles the pulsating tor0ue can 1e reduced in high2

the reference signal iC= respectivel" sho/n in the 6ig. @. The inductor current is forced to fall /ithin the h"steresis 1and. 3hen the current goes a1ove the upper h"steresis 1and, i.e. iC =Ah, the pulse is removed resulting the current forced to fall as the current /ill flo/ through the load. 3hen the current goes 1elo/ the lo/er h"steresis 1and i.e. iC =2h, the pulse is given to the s/itch, so the current increases linearl".

6ig.9 Bloc+ Diagram for a Brushless D.C Motor

'n this paper Closed loop control techni0ue is used for controlling the speed and current of a BLDC motor. The output of the s"stem "%t& is fed 1ac+ through a sensor measurement 6 to the reference value r%t&. The controller C then ta+es the error e %difference& 1et/een the reference and the output to change the inputs u to the s"stem under control . This is sho/n in the figure :. This +ind of controller is a closed2loop controller or feed1ac+ controller. This is called a single2input2single2output %S'S,& control s"stem# M'M, %i.e., Multi2'nput2Multi2,utput& s"stems, /ith more than one input8output, are common.

6ig @; Adopted control scheme for the Closed Loop operation

'''. M,DEL')G ,6 BLDC M,T,! The model of BLDC motor is similar to that of a DC motor. ,nl" here the presence of an electronic commutator causes the state tra5ector" to s/itch 1et/een different models. 7ere the model of a BLDC similar to that of a DC motor is developed. B" incorporating the presence of an electronic commutator the developed model can 1e used as a BLDC drive model. The differential e0uation governing the electrical part of the model can 1e /ritten as %9&

6ig :; Bloc+ diagram of closed loop controller

3here, * B DC voltage applied in *olts. L B 'nductance of the /indings in 7enr". ! B!esistance of the /indings in ,hms.

''.C,)CE T ,6 CL,SED L,, A. Basic concept The closed loop operation carried out 1" the voltage controller % ' controller& processes the error signal and produces appropriate current signal %IS&. The current signal %IS& is multiplied /ith unit sinusoidal template /hich is produced 1" using phase loc+ed loop % LL&, to produce IS sin<t. The load current iL su1tracted from the IS sin <t to produce the reference current signal iS=. As the 1oost inductor current can>t 1e alternating, the a1solute circuit gives the a1solute value of the reference current signal iS= that is iC*. The actual signal %iC& and the re0uired reference signal %iC*& are given to the current controller to produce the proper gating signal. The current controller adopted is a h"steresis current controller. -pper and lo/er h"steresis 1and is created 1" adding and su1tracting a 1and ? h> /ith

E B $1 BBac+ emf of the motor. $1 BBac+ emf constant in *olts8 rad8 sec. 3 BSpeed in rad8 sec. A1ove the e0uation %9& can also 1e /ritten as

%:& The relation 1et/een tor0ue and speed can 1e o1tained 1" the follo/ing differential e0uation as,

%@& TB Tor0ue in )e/ton2meter CB Moment of inertia in $ g.m: TL B Distur1ance input. BB Coefficient of friction in $g8ms. The a1ove e0uation in %@& can also 1e /ritten as %D&

control and num1er of po/er electronic devices needed to control stator currents. osition detection

%a&

6ig D;. Bloc+ diagram of the control loop /ithout controller 3hen /ref, iref is the reference speed and current

'*. !')C' LE ,6 , E!AT',) BLDC motor is a t"pe of permanent magnet s"nchronous motor, /hich uses position detectors and an inverter to control the armature currents. BLDC motor is referred to as an inside out dc motor, since its armature is in the stator and the magnets are on the rotor and its operating characteristics resem1le to that of a dc motor. Mechanical commutators are used in case of DC motors, /here as the commutation is done through electronicall" in BLDC motor, /hich results into maintenance free. There are t/o main t"pes of 1ldc motors; trapeEoidal t"pe and sinusoidal t"pe. 'n the trapeEoidal motor the 1ac+2emf induced in the stator /indings has a trapeEoidal shape and its phases must 1e supplied /ith 0uasi2s0uare currents for ripple free operation. The sinusoidal motor on the other hand has a sinusoidall" shaped 1ac+ 2emf and re0uires sinusoidal phase currents for ripple free tor0ue operation. The shape of the 1ac+ 4 emf is determined 1" the shape of rotor magnets and the stator /inding distri1ution. !esolution of the position sensors should 1e high in case of sinusoidal motors 1ecause the rotor position must 1e +no/n at ever" instant of time for optimal operation. 't also re0uires more comple. soft/are and hard/are. The trapeEoidal motor is a more attractive alternative for most applications due to simplicit", lo/er price and higher efficienc". BLDC motors e.ist in man" different configurations 1ut the three2phase motor is most common t"pe due to efficienc" and lo/ tor0ue ripple. This t"pe of motor also offers a good compromise 1et/een precise

%1& 6ig.F; BLDC %a& Motor Cross Section %1& hase EnergiEing Se0uence

is usuall" implemented using three 7all 2 effect sensors /hich detects the presence of small magnets that are attached to the motor shaft. BLDC motor is driven 1" a three2phase inverter, /ith this si.2step commutation is possi1le. The conducting o interval for each phase is 9:G 1" electrical angle. 6ig.F sho/s a cross section of a three phase star connected motor along /ith its phase energiEing se0uence. Each interval starts /ith the rotor and stator field lines 9:G G apart and ends /hen the" are HGG apart. Ma.imum tor0ue is reached /hen the field lines are perpendicular. The commutation phase se0uence is li+e AB2AC2BC2BA2CA2CB. Each conducting stage is called one step. Therefore, onl" t/o phases conduct current at an" time, leaving the third phase floating. 'n order to produce ma.imum tor0ue, the inverter should 1e commutated ever" HGG so that current is in phase /ith the 1ac+ EM6. Current commutation is done 1" inverter. The s/itches are sho/n as 1ipolar 5unction transistors 1ut M,S6ET s/itches are more common.

development of some form of process model, and then choosing , ' values 1ased on the d"namic model parameters. Manual tuning methods can 1e relativel" inefficient, particularl" if the loops have response times on the order of minutes or longer, so /e prefer man" closed loop control techni0ue.

6ig.H Simplified BLDC Drive Scheme

*. !, ,SED CL,SED L,, C,)T!,LL')G TEC7)'I-E Man" applications, such as ro1otics and factor" automation, re0uire precise control of speed and position. Speed Control S"stems allo/ one to easil" set and ad5ust the speed of a motor. The control s"stem consists of a speed feed1ac+ s"stem, a motor, an inverter, a controller and a speed setting device. A properl" designed feed1ac+ controller ma+es the s"stem insensi1le to distur1ance and changes of the parameters. The purpose of a motor speed controller is to ta+e a signal representing the demanded speed, and to drive a motor at that speed. Closed loop speed control s"stems have fast response, 1ut 1ecome e.pensive due to the need of feed1ac+ components such as speed sensors. Speed controller calculates the difference 1et/een the reference speed and the actual speed producing an error, /hich is fed to the ' controller. ' controllers are used /idel" for motion control s"stems. The" consist of a proportional gain that produces an output an output proportional to the input error an integration to ma+e the stead" state error Eero for a step change in the input. ' controller is a generic control loop feed1ac+ mechanism %controller& /idel" used in industrial control s"stems 4 a ' is the most commonl" used feed1ac+ controller and calculates an JerrorJ value as the difference 1et/een a measured process varia1le and a desired set point. The controller attempts to minimiEe the error 1" ad5usting the process control inputs. The ' controller calculation %algorithm& involves t/o separate constant parameters, and is accordingl" sometimes called t/o2term control; the proportional, the integral values, denoted P, I. 7euristicall", these values can 1e interpreted in terms of time; P depends on the present error, I on the accumulation of past errors, 1ased on current rate of change. The /eighted sum of these three actions is used to ad5ust the process via a control element such as the position of a control valve. There are several methods for tuning a ' loop. The most effective methods generall" involve the

%a&

%1& 6ig.K. %a& ' Controller applied to BLDC Motor, %1& pulses depending upon the actual current /ave form

*'.

MATLAB M,DELL')G A)D S'M-LAT',) !ES-LTS

Closed Loop Operation & Control of BLDC Drive

6ig.L Matla18Simulin+ model of proposed Closed Loop ,peration ( Control of BLDC Drive.

6ig.L sho/s the Matla18Simulin+ model of Closed Loop ,peration ( Control of BLDC Drive

flu.. The energiEed stator /indings create electromagnet poles. The +e" to effective tor0ue and speed control of a BLDC motor is 1ased on relativel" simple tor0ue and Bac+ EM6 e0uations, /hich are similar to those of the DC motor. Simulation results demonstrate that the developed closed loop control scheme has a much 1etter performance related to reduction in stead" state error, faster settling time, smaller overshoot in the speed response and much 1etter distur1ance re5ection capa1ilities. Chattering ho/ever persists and further /or+ can 1e done to eliminate it legi1le. !E6E!E)CE
6ig.M sho/s the output /aveform of Stator Current, Bac+ EM6 N9O S. C. ar+, 7. 3. ar+, M. 7. Lee, and 6. 7arashima, PA ne/ approach for minimum2tor0ue2ripple ma.imum2efficienc" control of BLDC motor,Q IEEE Trans. Ind. Electron., vol. DK, no. 9, pp. 9GM499D, 6e1. :GGG. N:O 6. Aghili, M. Buehler, and C. M. 7oller1ach, PE.perimental characteriEation and 0uadratic programming21ased control of 1rushless2 motors,Q IEEE Trans. Control S st. Technol., vol. 99, no. 9, pp. 9@M49DH, Can. :GG@. N@O R. Murai, R. $a/ase, $. ,hashi, and $. ,+u"amE, PTor0ue ripple improvement for 1rushless dc miniature motors,Q IEEE Trans. Ind. Appl., vol. :F, no. @, pp. DD94DDM, Ma"8Cun. 9MLM. NDO C. Delecluse and D. Grenier, PA measurement method of the e.act variations of the self and mutual inductances of a 1uried permanent magnet s"nchronous motor and its application to the reduction of tor0ue ripples,Q in Proc. !th Int. "or#shop Adv. $otion Control , Coim1ra, 9MML, pp. 9M94 9MK. NFO !. S. 3allace and D. G. Ta"lor, PLo/2tor0ue2ripple s/itched reluctance motors for direct2drive ro1otics,Q IEEE Trans. %o&ot. A'to(., vol. K, no. H, pp. K@@4KD:, Dec. 9MM9. NHO 3. S. )e/man and C. C. atel, PE.periments in tor0ue control of the Adept,ne ro1ot,Q in Proc. IEEE Int. Conf. %o&ot. A'to(., Sacramento, CA, Apr. 9MM9, pp. 9LHK49LK:. NKO 6. 6ilicori, C. G. L. Bianco, and A. Tonielli, PModeling and control strategies for a varia1le reluctance direct2drive motor,Q IEEE Trans. Ind. Electron., vol. DG, no. 9, pp. 9GF499F, Can. 9MM@. NLO ). Matsui, T. Ma+ino, and 7. Satoh, PAuto compensation of tor0ue ripple of direct drive motor 1" tor0ue o1server,Q IEEE Trans. Ind. Appl., vol. :M, no. 9, pp. 9LK49MD, Can.46e1. 9MM@. NMO D. G. Ta"lor, P)onlinear control of electric machines; An overvie/,Q IEEE Control S st. Technol., vol. 9D, no. H, pp. D94F9, )ov. 9MMD. N9GO S.2C. $ang and S.2$. Sul, PDirect tor0ue control of 1rushless DC motor /ith non ideal trapeEoidal 1ac+ EM6,Q IEEE Trans. Po)er Electron., vol. 9G, no. H, pp. KMH4LG:, )ov. 9MMF.

6ig.M sho/s the Stator Current, Bac+ EM6 of Closed Loop ,peration ( Control of BLDC Drive.

6ig.9G Speed

6ig.9G sho/s the Speed of Closed Loop ,peration ( Control of BLDC Drive.

A-T,!S !,6'LE R.RamPrasad, graduated from Bangalore -niversit", Bangalore in the "ear :GG:. 7e received M.Tech degree from Sri *en+ates/ara -niversit", Tirupati, 'ndia in the "ear :GGK. 7e is presentl" Assistant rofessor in the Electrical and Electronics Engineering Department, )B$!'ST, *id"a )agar, )ellore, 'ndia. 7is areas of interest include Multi Level 'nverters, 7armonic !eduction Techni0ues, Drives and Control, o/er S"stem ,peration and Control.

6ig.99 Electromagnetic Tor0ue

6ig.99 sho/s the Electromagnetic Tor0ue of Closed Loop ,peration ( Control of BLDC Drive. *''. C,)CL-S',) The BLDC motor is an AC s"nchronous motor /ith permanent magnets on the rotor %moving part& and /indings on the stator %fi. part&. ermanent magnets create the rotor