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Universal motor speed control with current controlled PWM AC chopper by

using a microcontroller

Conference Paper · February 2000

DOI: 10.1109/ICIT.2000.854154 · Source: IEEE Xplore

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 Universal Motor Speed Control with Current Controlled PWM AC Chopperby
using a Microcontroller
Hac1 Bodur, A. Faruk Bakan,M. Hadi Sarul
Yildiz Technical University, Dept. of Electrical Engineering
Istanbul 80750, TURKEY

-
Abstract In this paper, universal motor speed control II. OPERATION PRINCIPLE AND ANALYSIS
system with a PWM AC chopper is introduced.
Operation principles of the control system, which is The universal motor speed control system with current
realized with a microcontroller, are presented. controlled PWM AC chopper is shown in Fig.1. In the
Mathematical model of the universal motor and PWM system voltage equation of universal motor can be written
AC chopper is derived and the behavior of the system is as,
studied by simulation. Mains power factor, motor speed,
and current are analyzed for different load conditions.
Harmonic analysis of the motor current and voltage are
given and compared with phase control technique.
Experiments are made to verify the effectiveness of the
system. According to the experimental results, both where the field and armature currents are related by the
simple hardware design and good speed response can be following equation,
attained.

I. INTRODUCTION

Universal motors are widely used in household appliances

The voltages across the windings are related by,
like food processors, vacuum cleaners, sewing machines
and most domestic appliances because it is cost effective in
respect of volume/power and it has a good torque response.
In the control of these motors, generally, providing stable (3)
speed control, preventing large cuirents and drawing
minimum harmonic current from ac mains supply are By using (2) and (3) voltage equation can be rewritten as
required. To meet these requirements using AC chopper
with current and speed feedback is preferred. In addition, a
control system with low cost is desired [1,3,4].
-
V(t) = [R + Lp Mo]i(t) (4)

where
AC choppers that change the rms value of AC voltage
feeding a load fiom a constant voltage AC source are in
widespread use for purposes of power control in industrial R=R, +Rf
applications such as-heating, lightning and ac motor speed L=L, + L f .
control. For many years, AC power control has been done
economically and simply up to very high powers using the The mechanical equation can be written as
phase control technique with naturally commutated ac
chopper circuits made up of thyristors and triacs. In this dw
form of power control it is known that depending on phase T, =TL+ J-+Do = i,.M.if = K,.ii. (7)
dt
control angle, the load voltage harmonics increase,
interruptions occur in load current and the ac mains power AC mains power factor is given as
factor reduces [2,5,6].

In this work, universal motor speed control system with

PWM AC chopper is simulated and the system has been
realized by using a microcontroller. In the system, AC where I is the rms value of supply current, 11 is fundamental
mains power factor, motor speed, and current is analyzed, component of I and cp1 is phase angle of I. Displacement
simulation are compared with phase control technique. factor of the input current is given as

Dis.F. = cos cpl . (9)

0-7803-5812-0/00/$10.00~2000IEEE 394
 I.

Synch.
nrd
I

I c

.b
control and Drive Circuit *
n
MI
1.
I

I
1
No

Fig. 1. Universal motor speed control system with cunent controlled P W M AC chopper.

Fig.2. Control block diagram of the system.

Control system block diagram is given in Fig.2. In the
diagram, according to speed error e between the desired
speed n,ef and the real speed n, PID controller produces
sinusoidal reference current, which is in the same phase
with AC mains voltage. Hysteresis current controller
provides the motor current to follow the reference current in
a selected hysteresis IH band according to difference
between reference current iref and motor current i,.
Reference current is given as,
Simulation of the system is realized by using MATLAB.
The psuameters of the universal motor used in the
simulations are given in Table 1. Variations of the motor
voltage, current, and their harmonics obtained from the
simulaticin program for P W M AC chopper and phase
control technique is given in Fig.1 for comparison. It is
clear that the proposed system is superior to phase control
technique in respect of power factor.

i,, = I,,,,sinot , 0 e I,,,, e I,, .

Reference current is automatically changed between zero
and nominal motor current in order to obtain the desired
speed. If the motor current falls below absolutely IW2 than
reference current then MOSFET M2 is"tumed off and M1 is
(10)
F F ]
Table 1. Parameters of the universal motor.

220 v

For the simulations shown in Fig. 1, 1/4 of nominal voltage

turned on, so AC mains voltage is given to motor.
Similarly, if the motor current exceeds reference current
absolutely M/2, MOSFET M1 is turned off and motor
voltage is made zero with the conduction of M2. By using
optical interlocks with isolation in the drive circuits,
MOSFETs are prevented fkom conducting at the same time
together.
395
is obtained at motor terminals by selecting proper reference
current Irehin the current controlled P W M AC chopper and
a in the phase control. From the analysis of Fig.]. with
simulation program, Disp.F. and PF values are calculated as
0.95 and 0.49 for P W M AC chopper, 0.34 and 0.28 for
phase control respectively.
 ,
Motor voltage (v) Motor voltage harmonics(V)
. . . . . . . . . . . . .

0 0.01 0.02 0.03 0.04 1 3 5 7 9 11 13 15 17 19 21

Motor current (A) Motor current harmonics(A)

0 0.01 0.02 0.03 0.04 1 3 5 7 9 I 1 13 15 17 19 21

AC mains current(A) AC mains current harmonics(A)
. . . . . . . . - I

0.5

0.5

0 0.01 0.02 0.03 0.04 1 3 5 7 9 11 13 15 17 19 21

t (6) n

Motor voltage (V) Motor voltage harmonics (V)

"

0 0.01 0.02 0.03 0.04 " 1 3 5 7 9 I 1 13 15 17-19 21

Motor current, AC mains current (A) Motor current, AC mains current harmonics (A)

. . . . . . . . .

0 0.01 0.02 0.03 0.04 1 3 5 7 9 11 13 15 17 I 9 21

t (s) n

(b)

Fig.3. Universal motor voltage, current and AC mains current variations and their harmonics for the fundamental value of
motor voltage V = 1/4.Vn, a) in the PWM AC chopper circuit, b) in the AC chopper with phase control technique.

396
 Motor voltage 01) Motor voltage harmonics(V)
I . . . . ' . - . . - . I

0 0.01 0.02 0.03 0.04 1 3 5 7 9 11 13 15 17 19 21

Motor current (A) Motor current hamnics(A)

0 0.01 0.02 0.03 0.04 1 3 5 7 9 11 13 15 17 19 21

AC mains current(A) AC mains current harmonics(A)

2
1
0 ; : ! . o0
-1
-2
0 0.01 0.02 0.03 0.04 1 3 5 7 9 I 1 13 15 17 19 21
t (8) n

Motor voltage 01)

200

-200

0 0.01 0.02 0.03 0.04 ') 1 3 5 7 9 11 13 15 17 I 9 21

Motor current (A) Motor current harmonics(A)
I C . . . . . . . . . . - 4

0 0.01 0.02 0.03 0.04

AC mains cwrent(A) AC mains current harmonics(A)
1

-1

0 0.01 0.02 0.03 0.04 1 3 5 7 9 I 1 13 15 17 19 21

t(a n

(b)
Fig.4. Universal motor voltage, current and AC mains current and their harmonics for the PWM AC chopper circuit for
fundamental value of the motor voltage, a) V ==3/4.V,, and, b) V = 1/2.V, .

3 97
 O‘O
’t
t
- /’
4
1

0.4
O‘Ot /
O2
‘0
t
I
0.5 1 1.5 2
lnhn
2.5 3 3.5
I
4

Fig.5. Dis.F. and PF variations in current controlled PWM Fig.6. Dis.F. and PF variations in phase controlled AC
AC chopper. chopper.

In FigA(a) and @) variations of the motor voltage, motor
current, AC mains current and their harmonics are shown
the fundamental motor voltage V=1/2.V, and 3/4.V,. In
Fig.3 and Fig.4 hysteresis band IH is selected 15 % of the
Ilc6ll.
PF and Dis.F. variations are given for current controlled
PWM AC chopper according to reference current IWh in
Fig.5 and for phase controlled AC chopper according to
phase angle a In Fig.6. From these variations it,is clear that
displacement factor of the input current of the proposed
circuit is close to unity and AC mains power factor of the
circuit is quite well. In Fig.7 speed response of the system
for &f = 7500 rpm and the motor current is shown. The
motor doesn’t draw high currents at start up.
been realized with software. P, I, and D coeeficients that
makes the system stable are selected experimentally. So,
the motor current has been provided to follow the reference
current selected by the PID controller and motor speed has
been regulated.
III. CONCLUSION
In the universal motor speed control system stable control
in a wide speed range has been obtained and motor has
given good response to sudden load changes. The system is
superior to phase control in regard to the AC mains power
factor, current harmonics and, load voltage harmonics. An
industrial control system that is flexible and economic has
been realized by use of a microcontroller in the current
controlled PWM AC chopper.

REFERENCES
[l] J. Nicolai, A. Bailly, T. Castagnet, “Improved
Sensorless Control with the ST62 MCU for Universal
Motor”, SGS THOMSON AN863, 1996.
[2] G. Choe, A.K. Wallace, M.H. Park, “An Improved
0 0.1 0.2 0.3 0.4 0.5 PWM Technique for AC Choppers“, IEEE
Transactions on Power Electronics, Vo1.4, October
1989.
[3] T. Nishimura, M. Nakaoka, T. Maruhashi, “Reduction
of Vibration and Acoustic Noise in Induction Motor
Driven by Three Phase PWM AC Chopper Using
Static Induction Transistors”, IEEE Trans. On Power
J Electronics, Vo1.4, July 1989.
0 0.1 02 0.3 0.4 0.5
t (Sl [4] D.H. Jang and G.H. Choe, “Improvement of Input
Fig.7. Simulation program results. a) speed, b) current of Power Factor in AC Choppers Using Assymetrical
the universal motor. PWM Technique”, IEEE Transactions on Industrial
Electronics. Vol. 42, April 1995.
In the application circuit, PIC16C76 microcontroller has [5] H. Bodur, A.F. Bakan, M.H. Sarul, S.Pravadalioglu
been used. Motor current has been measured with an hall “Analyse of Current Controlled PWM Technique in
effect sensor and given to the ADC input of the AC Choppers and Realization of an Application
microcontroller. Speed has been converted to logic pulse Circuit” , Elektrik Muh. 6. Ulusal Kong., Bursa,
with an encoder and given to RI30 interrupt input of the TURKEY, 1995. J

controller. Synchronization with line has been provided and [6] H. Bodur, A.F. Bakan, M.H. Sarul, “Analyse and
polarity of the line voltage has been obtained by using an Implementation of Single Phase Current Controlled
input pin. The controller receives reference speed from the PWM AC Chopper that also uses Negative Mains
keypad. PID controller and hysteresis current controller has Voltage” , Elektrik Muh. 7. Ulusal Kong., Ankara,
TURKEY, 1997.
?, 98

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