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transducer is fitted to the output shaft. The position transducer LVDT (linear variable
differential transformer) output of the actuator.
In the present case, design of linear electro mechanical actuator has been carried
out as per technical and environmental specification. During the design, all parameter
space limitation, weight etc. were kept in mind. The report presents detailed design
calculations of Gears, Bearings, fasteners, ball screw, drawings, and solid models of Eye
End, Mid Plate, Body, End caps.
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ECE DEPARTMENT (BITSW)
Analog and digital controls of BLDC motor drives are also attempted to suit their
wide spread applications. There has been a continuous demand to reduce the control
hardware and thus cost of this drive. Digital control is advantageous since, digital control
structures eliminate drifts and, by using a programmable processor, the upgrades can be
easily accomplished by software. Hence Digital control is employed in the present
generation, for the motion control applications. Digital controllers can be Microprocessor
based, Micro Controller based or DSP based controllers.
Below are some of the articles published in relation to Digital control of BLDC
motors. This project thesis deals with the Digital control of the BLDC motors using DSP
controllers. Texas DSP controllers are one of the best controllers which suit the
requirements of this thesis application. Hence Tms DSP is being implemented here.
DSP solutions for BLDC motors, is a paper published by Texas Instruments.
This paper presents generic considerations on the control of Brushless Permanent Magnet
dc motors using the Tms320c24x. The complete solution proposal is presented .control
structures, power hardware topology, shaft position sensors, control hardware and
rEMArks on energy conversion efficiency can be found in this document.
Position Estimator and Simplified Current Control Strategy for Brushless-dc
motors, Using DSP Technology by Juan Dixon, Matias Rodrguez and Rodrigo Huerta,
Department of Electrical Engineering, Chile.
This paper describes a different way to sense the phase currents and to estimate
the rotor position of a Brushless dc motor. The current is sensed taking the absolute value
of two of the three phases, transforming this information in a dc current IMAX, which is
finally compared with a reference value from the accelerator pedal. With this method of
control, all the transistors of the inverter are commutated with the same PWM signal.
Based on the last property of the current controller developed, the paper proposes a
method to estimate the instantaneous position of the rotor
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ECE DEPARTMENT (BITSW)
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This work deals with the design of the hardware for controller electronics, and
software implementation for a brushless dc motor drive system. The design and
realization of the drive system is divided into the following modules, first being the
design and software implementation of digital controller for TMS320LF2407, the second
is to design the Mosfet based inverter. And in the software implementation, DSP is
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ECE DEPARTMENT (BITSW)
programmed to achieve the closed loop position control of BLDC motor. Sensored
commutation of BLDC motors are implemented in this work.
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ECE DEPARTMENT (BITSW)
In present work a Mosfet based inverter is employed and a DSP Controller is used
to accept the signals from rotor by position sensors i.e. Hall Sensors technique, input
command signal and to produce the relevant firing signals for inverter switches i.e.
calculations of switching instants, sequence and duty cycle of controlling signals. These
signals are fed to inverter through driver circuit in order to enhance the power level of
signal and to isolate the low power circuit DSP from high power circuit h-bridge.
This work deals with the design of hardware, implementation and testing of
controller electronics for brushless dc motor drive system. This drive system is developed
for EMA applications. In EMA applications, to find the rotor position Hall sensors are
used and not sensor less techniques.
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ECE DEPARTMENT (BITSW)
Motion control drive systems can be broadly divided into two groups:
1) Low performance motion control systems, such as fans, pumps, compressors and
blowers which normally do not need fast response and in some applications open-loop
operation is satisfactory;
2) High performance motion control systems such as robotics, servos, rolling mills and
machine tools which require fast dynamic response, parameter-insensitive control
characteristics and robustness.
This motion control application in this project is a High performance motion
control system. It is an Actuator application of BLDC motor which requires fast dynamic
response.
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ECE DEPARTMENT (BITSW)
2. LITERATURE SURVEY
Large, medium, small as well as micro BLDC motors are extensively sought for
applications in all sorts of motion control apparatus and systems. The marvelous increase
in the popularity of the BLDC motor drives among engineers bears testimony to its
industrial usefulness in terms of superior performance and relative size. High efficiency
due to reduced losses, low maintenance and low rotor inertia of the BLDC motor has
increased the dEMAnd of BLDC motors in high power servo and robotic applications.
Below are some of the articles published on the importance of BLDC motors and
their wide spread applications in various fields. Advances in Brushless dc Motor
Technology, Control, and Manufacture by
corporation
Radford , Virginia , USA , is a paper which deals with the BLDC motors ,
fundamentals and the differences between the BLDC and Brushed dc motors .
This paper was published at pcim-Europe, 1996. It focuses on the present importance
and applications of the BLDC motors.
AN885 --
Brushless
dc (BLDC)
Motor
Fundamentals
by -- Padma raja
constructional
features ,
applications
, characteristics
and
Sensored
permanent
magnet
brushless dc
motors , employing bonded Node magnets , for retrofitting to a state - of - the - art
vacuum
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ECE DEPARTMENT (BITSW)
BLDC motors have been proven to be best all-around type of motors for aerospace
applications because of their long life, high torque, high efficiency, and low heat
dissipation.
This paper compares various types of motors and stresses that BLDC motors are
the suitable motors in the aerospace applications. Selection of the optimum electric motor
for space flight operations results in a safe, reliable, effective, efficient and economical
electric motor power source for space flight. Brushless direct current motors provide the
lightest weight alternative for most applications.
Application Report, spraa76january 2005, DSP control of electro-hydraulic
servo actuators, deals with some of the issues involved in controlling linear hydraulic
Actuators and the suitability of the DSPs for such systems.
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commutation suffers from flash over at high-speed &high current, resulting power losses
& serious damages. To overcome this problem the concept of Brushless dc motor is
developed.
3.3 STATOR
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The stator of a BLDC motor consists of stacked steel laminations with windings
placed in the slots that are axially cut along the inner periphery. Traditionally, the stator
resembles that of an induction motor; however, the windings are distributed in a different
manner. Most BLDC motors have three stator windings connected in star fashion. Each
of these windings are constructed with numerous coils interconnected to form a winding.
stator windings to give the different types of back Electromotive Force. As their names
indicate, the trapezoidal motor gives a back emf in trapezoidal fashion and the sinusoidal
motors back emf is sinusoidal,
3.4 ROTOR
The rotor is made of permanent magnet and can vary from two to eight pole pairs
with alternate North and South poles. Based on the required magnetic field density in the
rotor, the proper magnetic material is chosen to make the rotor. Ferrite magnets are
traditionally used to make permanent magnets. As the technology advances, rare earth
alloy magnets are gaining popularity. The ferrite magnets are less expensive but they
have the disadvantage of low flux density for a given volume. In contrast, the alloy
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ECE DEPARTMENT (BITSW)
material has high magnetic density per volume and enables the rotor to compress further
for the same torque.
Also, these alloy magnets improve the size-to-weight ratio and give higher torque
for the same size motor using ferrite magnets. Neodymium i.e Nd, Samarium Cobalt i.e
SmCo and the alloy of Neodymium, Ferrite and Boron i.e NdFeB are some examples of
rare earth alloy magnets. Circular core with magnets on the periphery Circular core with
rectangular magnets embedded in the rotor.
: 756W
Torque
: 1N.m
:8
Type of connection
:Y
Rated voltage
: 28V
Rated current
: 10A
Rated Speed
: 6000 rpm
Torque constant
: 0.044V/(rad/sec)
17
: 55mm
Stator diameter
: 48mm
The comparison of the BLDC motors with Brushed dc and Induction motor
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Ra
La
E
g
dia
+ Eg
dt
(eq 1.1)
(eq 1.2)
(eq 1.3)
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To obtain the transfer function between speed and applied voltage, the differential
equations are transformed into the frequency domain.
V= (Ls + R) I + ke m
(eq 1.4)
(eq 1.5)
As the load torque does not affect the transfer function it can be neglected. Thus the
mechanical differential equation transforms to
T=Jmsm + Bm
(eq 1.6)
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starts and stops and frequent reversals of rotation with load on the motor, dEMAnd more
torque than the rated torque. This requirement comes for a brief period, especially when
the motor starts from a standstill and during acceleration. During this period, extra torque
is required to overcome the inertia of the load and the rotor itself. The motor can deliver a
higher torque, maximum up to peak torque, as long as it follows the speed torque curve.
in the sensor less commutation the rotor position can be obtained from the back Emf
wave shape with out using any sensors to detect the position of the rotor.
Sensored Commutation
As the name specifies, in sensored commutation, the commutation of BLDC
motor is done with the help of sensors. These sensors can be of Hall type, Encoders,
Resolvers etc. In this project work, the sensored commutation is implemented using the
hall sensors mounted on the motor.
Sensored Commutation using Hall sensors
As the name specifies, in the sensored commutation of BLDC motors, the rotor
position is sensed using Hall Effect sensors embedded into the stator. Most BLDC
motors have three Hall sensors embedded into the stator on the non-driving end of the
motor. Whenever the rotor magnetic poles pass near the Hall sensors, they give a high or
low signal, indicating the N or S pole is passing near the sensors. Based on the
combination of these three Hall sensor signals, the exact sequence of commutation can be
determined. Hall sensors work on the principle of the Hall Effect theory, which is
explained here.
Hall Effect Theory
If an electric current carrying conductor is kept in a magnetic field, the magnetic
field exerts a transverse force on the moving charge carriers which tends to push them to
one side of the conductor. This is most evident in a thin flat conductor. A buildup of
charge at the sides of the conductors will balance this magnetic influence, producing a
measurable voltage between the two sides of the conductor. The presence of this
measurable transverse voltage is called the Hall Effect after E. H. Hall who discovered it.
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Fig3.8.1: Hall Sensor signal, Back emf, torque and output waveforms
Hall sensor signals with respect to back emf and the phase current. The switching
sequence that should be followed with respect to the Hall sensors
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three hall sensors signals will be coming at an angle of 60 electrical. Each hall sensor
will give high signal for 180 deg electrical. The three hall sensors correspond to three
phases of the motor. Let H1, H2, H3 corresponds to phase A, phase B, phase C of Motor
respectively.
In square wave operation dc current is fed from the supply to the motor with two
lines for an interval of 60. During this interval the third line carries no current and is
idle. At the end of each period the current commutates from one of the conducting lines
into the idle line. There are normally two transistors conducting. The three phase bridge
circuit connected to A,B,C connected motor is shown in figure below.
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ECE DEPARTMENT (BITSW)
Voltage and current control PWM mode- In the above method the inverter
switches were controlled to give commutator function only. In addition to the
commutator function it is possible to control the switches in the PWM chopping mode for
controlling voltage and current continuously at the machine terminal.
There are essentially two chopping mode feedback mode or hard chopping and
freewheeling mode or soft chopping. In both these modes the devices are turned on and
off on a duty cycle basis to control the machine average current and average voltage. In
the feedback mode both the switches are chopped together i.e. during the off time the
voltage applied to the load is zero. In the freewheeling mode chopping control is done
with only one switch i.e. during the off time the voltage applied to the load is VD.
In this project soft chopping technique is used i.e. all the upper switch S1, S3 and
S5 are kept on sequentially in the middle of the respective positive voltage half cycles.
The bottom switches S2, S4, and S6 are chopped respectively. This configuration
minimizes the current ripple for a given chopping frequency or alternatively minimizes
the chopping frequency required to limit the current ripple to a given level.
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Hall sensor will be on if a north pole comes under it. And it will be off if a south
pole comes under it. The BLDC motor rotates by the interaction between pm Field of
rotor and stator field.
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assuming that the dc bus voltage is equal to the motor rated voltage, plus any losses
across the switches.
To vary the speed, these signals should be Pulse Width Modulated at a much
higher frequency than the motor frequency. As a rule of thumb, the PWM frequency
should be at least 10 times that of the maximum frequency of the motor. When the duty
cycle of PWM is varied within the sequences, the average voltage supplied to the stator
reduces, thus reducing the speed. Another advantage of having PWM is that, if the dc bus
voltage is much higher than the motor rated voltage, the motor can be controlled by
limiting the percentage of PWM duty cycle corresponding to that of the motor rated
voltage. This adds flexibility to the controller to hook up motors with different rated
voltages and match the average voltage output by the controller, to the motor rated
voltage, by controlling the PWM duty cycle. There are different approaches of controls.
If the PWM signals are limited in the c DSP controller, the upper switches can be turned
on for the entire time during the corresponding sequence and the corresponding lower
switch can be controlled by the required duty cycle on PWM.
The potentiometer is connected to the analog-to-digital converter channel for
setting a speed reference. Based on this input voltage, the PWM duty cycle should be
calculated.
BLDC motors are a type of synchronous motor. This means the magnetic field
generated by the stator and the magnetic field generated by the rotor rotates at the same
frequency.
With variable frequency control the synchronous motor may operate in two modes:
True synchronous mode
Self controlled mode.
1) True synchronous mode: In this mode the supply frequency is controlled from an
independent oscillator, as in the case of induction machine. For a given frequency setting,
the machine runs at a fixed speed, independent of the variation in load supply voltage and
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ECE DEPARTMENT (BITSW)
field current. Hence the speed can be controlled precisely in open loop by precisely
controlling the frequency.
2) Self control mode: A permanent magnet motor is generally operated in this mode.
A self-controlled variable speed drive have number of advantages which make then
superior to induction and dc motor variable speed drive. The advantage is that the
operation of a BLDC motor in the self-controlled mode eliminates hunting and stability
problems, and permits the realization of versatile control characteristics of a dc motor
without the limitation associated with commutator and brushes, such as limits on the
maximum speed, voltage and power, frequent maintenance, inability to operate in
contaminated and explosive environment and so on.
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ECE DEPARTMENT (BITSW)
The Electro hydraulic actuators are advantageous in the sense that they are
having large Torque to weight ratio. The biggest disadvantages of the hydraulic actuators
are the number of subsystems they require. Electro hydraulic actuators requires pump
motor for pumping the oil with required pressure, reservoir for supplying oil, low
pressure and high pressure filters and pipe lines for connecting these subsystems.
Moreover the hydraulic systems are very sensitive and should be maintained periodically.
The electromechanical actuators are free from all these disadvantages. They dont require
much subsystem and are not so sensitive. But the force they produce is less, anyhow the
force can be increased by increasing the capacity of the motor which makes the design
complicated. Thus the BLDC motors are the best suited motors for servo applications and
areprominently employed in Actuator applications because of their advantages over
brushed dc motors or Induction motors.
The advantages of the BLDC motors can be tabulated as follows.
Digital Controller
Band width limitations. (Sampling loop).
Numerical problems (Quantization/rounding).
A/D or D/A boundary. (resolution, speed, cost)
CPU performance limitations
Digital Controller
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High Resolution
High Reliability.
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3. Automation of in-house testing. The DSP software allows for automation of the
testing process, thus reducing the labor content of the technical staff.
4. Increased design flexibility. The software within the DSP can be easily modified
to optimize the application once in use in the field or if the application changes
once the unit is installed.
5. An increase in application flexibility.
INDUSTRIAL:
Automation, Building control, HVAC, Advanced sensing and
measurement, power supplies, Medical equipment and more.
AUTOMOTIVE:
Electronic Power steering, integrated power starter / alternator, Brushless
fuel pumps, active suspension, radar for collision etc.
APPLIANCE:
Motor control: for refrigerators, washing machines, induction ovens,
vacuum cleaners etc.
CONSUMER:
Printers, copiers, tape drivers, toys, power supply for digital TVs, power
line modem etc.
COMPUTING:
Fan control, Hard disk and tape drives.
Some applications in the field of the motor drives are given below.
Power Supplies
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ECE DEPARTMENT (BITSW)
High-speed performance
Cost effectiveness
6
Devices within a generation of a tms320 platform have the same CPU structure but
different on-chip memory and peripheral configurations. By integrating memory and
peripherals onto a single chip, tms320 devices reduce system costs and save circuit board
space. The several generation products of the tms devices are shown below starting from
the control optimized c2000 devices to the high performance c6000 devices.
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Programmable hardware dead band. The time base for the compare units is provided by
the GP timer 1. The registers associated with Compare units are
1. One 16 bit compare control register Comcona
2. one 16 bit action control register Actra
3. one 16 bit dead band timer control register Dbtcona
4. three 16 bit compare register Cmprx
c. Capture unit
There are three capture units, and each is associated with a capture input pin. Each
capture unit can choose gp timer 1 or 2 as its time base. The value of gp timer 1 or 2 is
captured and stored in the corresponding two level deep FIFO stack when a specified
transition is detected on a capture input pin. In the project the capture unit is used to
capture hall sensors signal of the BLDC motor. The counter value is stored in two level
deep FIFO stack. The speed of the motor can be calculated with the help of the value
stored in the FIFO stack i.e. the distance between the two hall sensors signal divided by
time taken for the two capture units to occur. The registers associated with capture unit
are
1. one 16 bit capture control register Capcom
2. one 16 bit capture fifo status register Capfifo
3. Three two level deep fifo stack Capxfifo
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c. Interrupts
The lf2407 core of the lf2407 processor supports six mask able and two non-mask able
interrupts. These interrupts are then fanned out and shared among numerous on chip
peripherals and external pins. Interrupts can be generated by internal or external sources
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ECE DEPARTMENT (BITSW)
The NMI instruction. This instruction forces a branch to interrupt vector location
24h. This instruction globally disables mask able interrupts. 240xa devices do not have
the NMI hardware signal; only software activation is provided.
The trap instruction. This instruction forces the CPU to branch to interrupt vector
location 22h. The trap instruction does not disable mask able interrupts intm is not set to
1; therefore, when the CPU branches to the interrupt service routine, that routine can be
interrupted by the mask able hardware interrupts.
An emulator trap. This interrupt can be generated with either an intr instruction
or a trap instruction. Six core interrupts int1int6 are expanded using a peripheral
interrupt expansion module identical to the f24x devices. The pie manages all the
peripheral interrupts from the 240xa peripherals and is grouped to share the six core level
interrupts.
Peripheral Interrupt Expansion Controller (PIE)
The 240xa CPU supports one non-mask able interrupt and six mask able
prioritized interrupt requests int1int6 at the core level. The 240xa devices have many
peripherals, and each peripheral is capable of generating one or more interrupts in
response to many events at the peripheral level.
Because the C240xA CPU does not have sufficient capacity to handle all
peripheral interrupt requests at the core level, a centralized interrupt controller (PIE) is
required to arbitrate the interrupt requests from various sources such as peripherals and
other external pins. The block diagram of Pie is shown below.
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The peripherals interface to the internal memory interface of the CPU through the
bus interface. All on-chip peripherals are accessed through the peripheral bus, pbus. At
lower frequencies, all peripheral accesses reads and writes are zero-wait-state, singlecycle accesses. All peripherals, excluding the watchdog timer counter, are clocked by the
CPU clock.
The integrated peripherals of the DSP are described in the following subsections:
1. Two event-manager modules (eva, evb)
2. Enhanced analog-to-digital converter (ADC) module
3. Serial communications interface (sci) module
4. Serial peripheral interface (spi) module
5. Pll-based clock module
6. Digital I/O and shared pin functions
7. External memory interfaces (for lf2407a only)
8. Watchdog (WD) timer module.
Event manager modules (eva, evb)
The event-manager modules include general-purpose (gp) timers, fullcompare/PWM units, capture units, and quadrature-encoder pulse (qep) circuits. Eva and
evb timers compare units, and capture units function identically. However, timer/unit
names differ for eva and evb.
The shows the module and signal names used. The shows the features and
functionality available for the event-manager modules and highlights Eva nomenclature.
The function of gp timers, compare units, capture units, using eva nomenclature
are explained in the next chapter on the software implementation using DSP controllers.
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ECE DEPARTMENT (BITSW)
Table 4.6.1: module and signal names for eva and evb
Enhanced Analog to Digital Converter (ADC) Module
A simplified functional block diagram of the ADC module is shown in figure
above, the ADC module consists of a 10-bit ADC with a built-in sample-and-hold (s/h)
circuit.
Functions of the ADC module include:
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conversion is complete, the selected channel value is stored in its respective result
register.
Auto sequencing allows the system to convert the same channel multiple times,
allowing the user to perform over sampling algorithms. This gives increased resolution
over traditional single-sampled conversion results.
.
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Key Features
DSP Selection
In the previous chapter, we have seen the architecture of the TMS320LF2407
DSP, which is used for the work. In this section, the reasons behind the selection of this
DSP are explained.
For actuator control application the selection of right DSP is the main criteria. The
DSP may have to execute velocity loop & position loop parameters in 0.5msec time-tick
for achieving 200-300hz of velocity loop bw & 20-30hz of position loop bandwidth. A
high speed DSP of 40 MIPS may execute 20 k instructions in 0.5msec. PWM and dead
band logic for six channels should be available in DSP. A high speed capture unit should
be available in DSP for hall code processing.
On chip 10/12bit ADC is required for position command as well as for feedback
sensing. On chip flash memory required for permanent storing of executable code.
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For a space constrained design like this, the most important design factor is the
availability of a compact DSP IC. TMS320LF2407 available in 64-pin lqfp, package and
having all motor control peripherals on chip is selected.
This device combines a 16-bit fixed-point DSP core operating at 3.3v with
integrated on chip memory and peripherals save board space as well as gives compact
solution for this application.
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On chip memory
o Flash memory of up to 16k words with 256-word boot rom
o Programmable code security feature
o 1k words of data/program ram
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interference. By pre-filtering the additive noise power which falls within the bandwidth
of the desired signal is reduced.
The resistor in series must be carefully chosen typically low values around 100
ohms to match the impedance requirement of the ADC and along with the filter capacitor
to provide the correct cut-off frequency. This also helps stabilize the op-amp preventing
noise generation because of instability of the op amp circuitry. The filter capacitor also
helps balance the switching transient and charging and discharging of the internal sample
and hold capacitor during sample and hold. In addition, digital filters with a properly
selected cut-off frequency can be implemented in the DSP controller to take out certain
correlated and uncorrelated noise.
OP-AMP TLC2274
The amplifiers in this analog interface is planned to realize by using tlc2274. The
tlc2274 is quad operational amplifiers from texas instruments. These devices offer
comparable ac performance while having better noise, input offset voltage, and power
dissipation than existing cmos operational amplifiers. This devices exhibit rail-to-rail
output performance for increased dynamic ranging single- or split-supply applications.
The tlc2274 exhibit high input impedance and low noise, is excellent for small-signal
conditioning and for interfacing with analog-to-digital converters (adcs).
Specifications of tlc2274
A] Quad Op-Amp in SO-14 package with CMOS technology.
b] Single and Dual supply operation from 3.3V to 5V, +/- 5V to +/- 8V
c] Low input offset voltage 950V
d] High gain bandwidth of 2MHz
e] Operating temperature range -40 to 85 C
f] Max. Junction temperature 150 C
g] Storage temperature range -60 C to 150 C
h] High slew rate 3.6V/
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Features of LM4051:
a] Small package: SOT-23
b] Reverse breakdown voltage options of 1.225V and adjustable
c] Output voltage tolerance (A grade, 25C) 0.1 %( max)
d] Low output noise (10 Hz to 10 kHz) 20Vrms
e] Wide operating current range 60A to 12mA
f] Industrial temperature range -40C to +85C
i] Low temperature coefficient 100 ppm/C (max)
PWM Interface
DSP TMS320LF2407 is having six PWM output pins. The PWM interface is used
to interface the PWM i/os i.e. Control signals to drive the power switches. This DSP
having two general purpose timers and three comparators, each comparator generates two
PWM outputs.
The PWM signals generated by the DSP are at 3.3v logic level. These signals
cannot drive the mosfets directly which are selected in the design, their turn-on gate
voltage is 10v to 15v.
Gate driver which accepts 3.3v logic inputs and gives 15v is required for the
design. Ir2132s from international rectifiers is selected as a gate driver. It is a 3-phase
gate driver uses charge pump technique to supply sufficient gate voltages for upper
mosfets.
It is also having cycle-by-cycle current limit feature with over-current detection
and fault generation. A fig 4.6 show describes the typical design topology using ir2132s
gate driver.
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ECE DEPARTMENT (BITSW)
The 3-phase driver ir2132 contains pulse by pulse current limit feature with
over-current detection and fault generation. An on-chip ground-referenced operational
amplifier provides analog feedback of bridge current via an external current sense resistor
(r sense) which is placed on power board. A current trip function, which terminates all six
outputs, is also derived from this resistor. An open drain /fault signal indicates if an overcurrent or under-voltage shutdown has occurred. Both operational amplifier and
comparator are available within ir2132, so just two resistors are needed externally. The
over-current trip is set internally to 0.5v. Two external resistors are required to set the
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ECE DEPARTMENT (BITSW)
gain of the on-chip operational amplifier. A fig. Below shows the detailed topology of
current limit.
If over current or under voltage condition occurs the comparator output sets the
fault logic, this causes six outputs of gate driver to go in inactive state. This fault o/p is
taken out and it can be used to implement software over current protection. Lower side
PWM i/p from DSP connected to clear logic of driver. Each new pulse clears the fault
logic and all gate drive outputs become active.
Transmission technique
Mode of operation
: Differential
Voltage levels
: + 1.5V to + 7 V
Distance of transmission
: up to 4000ft
64
Data rate
: 100kbps/10Mbps
Transmission Media
No. of slaves
: 32
: Master to Slave
Slave to Master
Broadcast
Protocol
: Command/Response
In actuation system obc has to communicate with four actuator controllers, so RS485 communication is most suitable for this application. This gives compact, cost
optimized and simple solution rather than 1553 communication which is used in the
existing missile systems. Typical RS-485 interface diagram for actuation systems is
shown in below fig. Here master is obc (on-board-computer) and all four controllers are
slaves.
The
max3491
low-power,
high-speed
transceiver
for
RS485/RS-422
communication operates from a single +3.3v power supply. The device contains one
differential transceiver consisting of a line driver and receiver. The transceiver operates at
data rates up to 10mbps, driver and receiver propagation delays are very low about 50ns.
This will support full duplex communication.
Description
The max3483, max3485, max3486, max3488, max3490, and max3491 are 3.3v,
low-power transceivers for rs-485 and rs-422 communication. Each part contains one
driver and one receiver. The max3483 and max3488 feature slew-rate-limited drivers that
minimize emi and reduce reflections caused by improperly terminated cables, allowing
error-free data transmission at data rates up to 250kbps. The partially slew-rate-limited
max3486 transmits up to 2.5mbps. The max3485, max3490, and max3491 transmit at up
to 10mbps.
Drivers are short-circuit current limited and are protected against excessive power
dissipation by thermal shutdown circuitry that places the driver outputs into highimpedance state. The receiver input has a fail-safe feature that guarantees a logic-high
output if both inputs are open circuit. The max3488, max3490, and max3491 feature full
duplex communication, while the max3483, max3485, and max3486 are designed for
half-duplex communication.
Features
: 2w at @ 850 c ambient
: 24vdc
: +/-10 %
Efficiency
: 65 %
As the input voltage range for the above dc-dc converter is limited, a three
terminal regulator 78m24cdt in dpak is used to regulate the input voltage which is
varying from 24v to 35 vdc.
B] 3.3v for DSP core and i/os:
The power requirement for DSP core and for all ics selected for this design is
3.3v. Tps7301qd voltage regulator from texas instruments is selected to fulfill above
requirement. This regulator is integrated with reset circuit (reset output). If the regulated
output drops to 95% of its regulated value, the reset o/p will be low for 200msec. This
delay can be used to reset the DSP during power on condition. Reset o/p is open drain, so
it is pulled up to 3.3v through resistor.
Specifications of tps301qd
The programmable output
Output current
: 500ma
Package
: tssop20
Power dissipation
: -45c to +85c
The tps73xx devices are members of a family of micro power low-dropout (ldo)
voltage regulators. They are differentiated from the tps71xx and tps72xx ldos by their
integrated delayed microprocessor-reset function. If the precision delayed reset is not
required, the tps71xx and tps72xx should be considered.
C] 15vdc to ir2132 (gate driver)
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The power requirement for gate driver is 15v. This is produced by series resistor
and 15v zener diode.
Dsp clock
This DSP is having internal pll (phase locked loop) block, which is having
internal multiplier. A 10 MHz external crystal oscillator from andhra electronics is
selected for the design. Maximum multiplying factor of the DSP is 4, with this multiplier
and 10 MHz clock we can operate DSP at 40 MHz (maximum operating frequency is 40
MHz). This will operate at 3.3v and gives 3.3v, 10 MHz square wave output. DSP core
requires 3.3v. More than 3.3v clock will damage the DSP. The internal pll-based clock
module is operated in external clock source operation.
This mode allows the internal oscillator to be bypassed. The device clocks are
generated from an external clock source input on the xtal1/clkin pin. In this case, an
external oscillator clock is connected to the xtal1/clkin pin. The pll module uses an
external loop filter circuit for jitter minimization. This loop filter circuit is connected
between the pllf and pllf2 pins. The pll has a 3-bit ratio control to select different CPU
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clock rates. These bits are located in the system control and status register 1 (scsr1), and
can be programmed in software code.
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The six switches (s1- s6) of the inverter are power electronic devices, operate in
such a way so as to place the input dc current symmetrically for 2 /3 angle at the centre
of each phase (a, b, c) voltage wave. At any instant, two switches are on, one in the
upper group and another in the lower group, energizing each phase of the motor. By
controlling the sequence of the phases to be energized the required rotation is produced.
The power converter of the BLDC machine is also called as electronic
commutator, as the function of the converter is same as that of the commutator in dc
machines. The switches in case of this converter are switched on only for 120 degrees
and there is 60-degree elapse in between the top and bottom switch. As a result of this
there is an inherent dead band present in the converter circuit, which will not allow both
the top and bottom switch to switch on at a time. The inverter losses also decrease
considerably as only two switches one from top and another from bottom are switched on
at any particular instant. There are two switches in each leg and an anti parallel diode for
each switch to allow freewheeling current. The main disadvantage of this topology is the
higher number of switches required in each phase which makes the converter expensive.
Here the inverter is designed to control a BLDC motor using PWM technique.
Selection of Power Device
The power semiconductor devices available can be categorized into three groups viz.
1) The devices such as diodes which are turned on and off by the action of the circuit;
2) Devices like thyristors and triacs, which can be turned on by the gate, control but
require separate circuit implementation to turn them off.
3) Those devices such as bipolar transistors, gate turn-off thyristors (gtos) and power
mosfets which can be turned on and off by the gate signal.
The final groups of devices are preferred in power electronics as they simplify
circuitry, but they all have their advantages and disadvantages. For example gtos are
available in high-voltage and high current ratings but limited to lower frequencies (less
than a few kHz) and require high power gate control. Bipolar junction transistors (bjts)
offer simpler driving than gtos but they are limited to lower voltages (<1500v), while
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mosfets offer high speed operation (100 kHz typical) and are very easy to drive but are
limited to lower voltages and currents.
The first stage in selecting the correct power-switching element for your motor
drive application understands the motor being driven. Understanding the ratings of the
motor is an important step in the process as it is often the corner points of operation that
will determine the choice of the power switching element. The voltage, current and power
ratings vary significantly with the different types of motors. Motor ratings can also vary
significantly within the same motor type. A key point to note is the value of the start-up
current (sometimes given as stall current or locked-rotor current). The startup current
value can be up to three times the value of the steady-state operating current. As
mentioned previously, it is these corner points of operation that will determine the
necessary ratings of the drive element. Because of the various voltage and current ratings
for the various motor types, the selected drive device ratings will have to vary as well,
depending on the application and design goals.
Mosfet or igbt, whats best for your application?
The two main choices for power-switching elements for motor drives are the
mosfet and igbt. The bipolar transistor used to be the device of choice for motor control
due to its ability to handle high currents and high voltages. This is no longer the case. The
mosfet and igbt have taken over the majority of the applications. Both the mosfet and igbt
devices are voltage controlled devices, as opposed to the bipolar transistor, which is a
current-controlled device. This means that the turn-on and turn-off of the device is
controlled by supplying a voltage to the gate of the device, instead of a current. This
makes control of the devices much easier.
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The key difference seen in these two equations for power loss is the squared term
for current in the mosfet equation. This requires the rds-on of the mosfet to be lower, as
the current increases, in order to keep the power dissipation equal to that of the igbt.
In low voltage applications, this is achievable as the rds-on of mosfets can be in
the 10s of milli-ohms. At higher voltages (250v and above), the rds-on of mosfets do not
get into the 10s of milli-ohms. Another key point when evaluating on-state losses is the
temperature dependence of the rds-on of the mosfet versus the vce-sat of an igbt. As
temperature increases, so does the rds-on of the mosfet, while the vce-sat of the igbt tends
to decrease (except at high current). This means an increase in power dissipation for the
mosfet and a decrease in power dissipation for the igbt. taking all of this into account, it
would seem that the igbt would quickly take over the applications of the mosfet at higher
voltages, but there is another element of power loss that needs to be considered that is
the losses due to switching. Switching losses occur as the device is turned on and off with
current ramping up or down in the device with voltage from drain-to-source (mosfet) or
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GPTCONA/B, specifies the action to be taken by the timers on different timer events, and
indicates the counting directions of the GP timers, As each GP timer has four possible
modes of counting operation Stop/Hold mode, Continuous Up-Counting mode,
Directional Up-/Down-Counting mode, Continuous Up-/Down-Counting mode.
Each gp timer has an associated compare register txcmpr and a PWM output pin
txPWM. The value of a gp timer counter is constantly compared to that of its associated
compare register. A compare match occurs when the value of the timer counter is the
same as that of the compare register. Compare operation is enabled by setting txcon[1] to
one. If it is enabled, the following happens on a compare match:
The compare interrupt flag of the timer is set one clock cycle after the match
A transition occurs on the associated PWM output according to the bit
configuration in gptcona/b, one device clock cycle after the match
if the compare interrupt flag has been selected by the appropriate gptcona/b bits
to start adc, an adc start signal is generated at the same time the compare interrupt flag is
set. A peripheral interrupt request is generated by the compare interrupt flag if it is
unmasked.
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An asymmetric waveform is generated when the gp timer is in continuous upcounting mode. When the gp timer is in this mode, the output of the waveform generator
changes according to the following sequence:
Zero before the counting operation starts rEMAins unchanged until the compare
match happens
Toggles on compare match
rEMAins unchanged until the end of the period
resets to zero at the end of a period on period match, if the new compare value
for the following period is not zero.
The output is one for the whole period, if the compare value is zero at the
beginning of a period. The output does not reset to zero if the new compare value for the
following period is zero. This is important because it allows the generation of PWM
pulses of 0% to 100% duty cycle without glitches. The output is zero for the whole period
if the compare value is greater than the value in the period register. The output is one for
one cycle of the scaled clock input if the compare value is the same as that of the period
register. One characteristic of asymmetric PWM waveforms is that a change in the value
of the compare register only affects one side of the PWM pulse.
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with newly determined compare values corresponding to the newly determined duty
cycles.
Compare units.
There are three (full) compare units (compare units 1, 2, and 3) in the eva module
and three (full) compare units (compare units 4, 5, and 6) in the evb module. Each
compare unit has two associated PWM outputs. The time base for the compare units is
provided by gp timer 1 (for eva) and by gp timer 2 (for evb) the compare units in each ev
module include:
Three 16-bit compare registers (cmpr1, cmpr2, and cmpr3 for eva and cmpr4,
cmpr5, and cmpr6 for evb), all with an associated shadow register.
One 16-bit compare control register (comcona for eva, and comconb for evb).
One 16-bit action control register (actra for eva, and actrb for evb), with an
associated shadow register, (rw)
Six PWM (3-state) output (compare output) pins (PWMy, y = 1, 2, 3, 4, 5, 6 for eva
and PWMz, z = 7, 8, 9, 10, 11, 12 for evb)
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All three kinds of PWM waveform generations with compare units and associated
circuits require configuration of the same event manager registers. The setup process for
PWM generation includes the following steps:
Setup and load actrx (actra)
Setup and load dbtconx, if dead-band is to be used
initialize cmprx
Setup and load comconx (comcona)
Setup and load t1con (for eva) or t3con (for evb) to start the
Operation.
rewrite cmprx with newly determined values.
The PWM circuits are designed to minimize CPU overhead and user intervention
when generating pulse width modulated waveforms used in motor control and motion
control applications.
PWM generation with compare units and associated PWM circuits are controlled
by the following control registers:
T1con, comcona, actra, and dbtcona (in case of eva). The operation mode of the compare
units is determined by the bits in comconx.
In this section the description of test setup for this work is presented. Firstly all
the interface circuitry of digital controller was tested on breadboard before the design
being finalized for manufacturing of PCB. It's a fact that not all manufactured boards are
good. Hence firstly the board level testing is conducted, accordingly the test setup is
arranged. Secondly, after the board level testing, the test setup is arranged so as to test as
a system called as the system level testing.
Firstly all the PCBs are tested on bare board for the electrical testing i.e. for
continuity, isolation and hi-pot testing.
In the board level testing, basically the board is tested during the product
prototype phase. Testing at this stage helps avoid the costly mistake of assembling a
defective board. It can be prevented from assembling precious, costly or scarce
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a set of debugging and real-time analysis capabilities. The code composer studio ide
supports all phases of the development cycle shown here.
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The second step is the variable initialization; in this program 11 variables are needed.
They can be sorted into three categories, variables which are dedicated to commutation
algorithm, position loop, ADC unit.
Run mode
The system level experimental setup is arranged in this run mode. Firstly the
implementation of commutation logic is performed on open loop system, accordingly the
setup is arranged with no feedback of position signals. Secondly the closed loop is
implemented with position signals fed back to ADC unit of DSP controller. The following
section describes the two modules, open loop and closed loop system.
Open loop speed control of BLDC motor:
The compare values of timers and PWMs are implemented in software as shown
in table 6.3 below. This allows the motor to commutate and rotate in the direction as
written in the software. The open loop speed control of the motor can be obtained by
varying the duty ratio i.e. by varying the values of timer compares and PWM compares.
The motor speed is varied from zero to max by varying the duty ratio in the software. The
flow chart for commutation and speed control is shown below and the software code is
given in appendix.
The operation of the controller for sensored techniques except that the hall
sensors are used to get the information of the next phase which comes in to conduction
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Table7.3.1: Commutation Logic with the corresponding Compare and Timer values
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7.4 CODDING
The execution of the program is done in code studio composer 3.1 version
/******
Digital controller for Electromechanical Actuation system
Developed at CAD, RCI.
******/
#include DSP2812x device h
// DSP2812x header file include file
#include DSP2812x examples h
// DSP2812x examples include file
#define PERIOD 300;
// proto type statements for functions found within this file
Interrupt void adc_isr (void);
Interrupt void cap_isr (void);
//global variables used in this example:
Unit16 conversion count;
Unit16 voltage1 [10];
Unit16 voltage2 [10];
Unit16 voltage3 [10];
Int ep,ep1,d,x,cmd,fbk,kp,vfbk,kv,ev,vcmd,ev1;
Long into t, y;
Void forward motion ()
{
d (kp*ep1)/16;
t=gpiodataregs.GPADAT.all;
If (t==65279||t==64767)
{
Evbregs.CMPR6=d;
}
Else
{
Evbregs.CMPR6=0;
If (t==65023||t==63999)
{
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Evbregs.CMPR4=d;
}
Else
{
Evbregs.CMPR4=0;
}
If (t==64511||t=64255)
{
Evbregs.CMPR5=d;
}
Else
{
Evbregs.CMPR5=0
}
If (t==64767||65023)
{
Evarers.CMPR2=300;
Evarers.CMPR3=0;
Evarers.CMPR1=0;
}
Else if (t==63999||t==64511)
{
Evarers.CMPR2=300;
Evarers.CMPR3=0;
Evarers.CMPR1=0;
}
}
Void reverse motion ()
{
d(kp*ep1)/16;
t=gpiodataregs.GPADAT.all;
If (t==63999||t==64511)
{
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Evbregs.CMPR6=d;
}
Else
{
Evbregs.CMPR6=0;
If (t==64255||t==65279)
{
Evbregs.CMPR4=d;
}
Else
{
Evbregs.CMPR4=0;
}
If (t==64767||t=65023)
{
Evbregs.CMPR5=d;
}
Else
{
Evbregs.CMPR5=0
}
If (t==64767||65023)
{
Evarers.CMPR2=300;
Evarers.CMPR3=0;
Evarers.CMPR1=0;
}
Else if (t==64511||t==64255)
{
Evarers.CMPR2=300;
Evarers.CMPR3=0;
Evarers.CMPR1=0;
}
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Else if (t==65279||t==64767)
{
Evarers.CMPR2=300;
Evarers.CMPR3=0;
Evarers.CMPR1=0;
}
Void position control ()
{
KP=4;
Kv=1;
Cmd=voltage1[0];
Fbk=voltage2[0];
Vfbk=voltage3[0];
Ep=cmd-fbk;
Vcmd=kp*ep+2120;
Ev=vcmd-vfbk;
If (ep<0)
{
Ep1=-ep;
}
Else
{
Ep1=ep;
}
If(ev<0)
{
Ev1=-ep;
}
Else
{
Ev1=ep;
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}
If (ep<0)
{
Reverse motion ()
}
Else
{
Forward motion ();
}
}
Void control ()
{
Position control ();
}
getch ();
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7.5 RESULTS
1. Gate wave forms of all mosfets in the bridge are shown with varying duty Ratio from
zero to 100%.
2. The voltage waveform for different duty ratios across three phases is measured.
3. Hall sensor signals rotor position signals are shown.
The following figures show the results.
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7.6 RESULTS
1.
Gate wave forms of all Mosfets in the bridge are shown with varying duty ration
from zero to 100%
2.
Hall sensor signals are taken and the frequency is calculated for different duty
ratios by which speed can be calculated.
3.
The speed measured by tachometer is compared with values calculated from hall
sensor signal frequency.
4.
The voltage waveform for different duty ratios across three phases is measured.
5.
In closed loop the position command of various wave forms sine, triangular and
step command are given to the motor and the feedbacks are measured and
analyzed.
6.
The position commands are given to the closed loop motor with different
proportional gain. Kp
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8. CONCLUSION
The applications of brushless dc (BLDC) motors and drives have grown
significantly in recent years in the appliance industry and the automotive industry. This
project provides an understanding of the functionality of a BLDC motor, explains how
such a motor is driven, and describes all the necessary components and the necessity of
knowing the positioning of a BLDC motor in agreement with the obtained results, the
efficiency of the used DSP can be proven, due to fast response of control signals
observed, and good stiffness with the position control. The DSP allows the
implementation of a lower cost and compact system, because it groups all inputs and
outputs in only one device.
The performance of the developed DSP based digital controller of the BLDC
motor drive has revealed that the algorithm developed to analyze the behavior of the
BLDC motor drive system work satisfactorily in real time implementation
The obtained results showed that the process runs fast. The positioning controller
strategy has been optimized and good chances are that it will become more robust. The
further modifications in the control structure are also easily possible by changing the
software. This project has wide range of future research possibilities.
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9. FUTURE SCOPE
Future research will be devoted to expand the control strategy proposed here, and
to implement sensor less control in the algorithmic approach to exploit synergies in view
of reducing design time and enhancing the performance of the system. Many novel
methods of sensor less commutation are under research. Machine saliency could be used
for rotor position estimation .New machine design also is an alternate solution to sensor
less operation. Some research is going on to add the special sensing winding to the
machine to indicate the rotor position. There are no Hall-type sensors; therefore, the
system is robust. This design of BLDC motor is not standardized yet. Optimized design
of the BLDC motor that achieves higher efficiency with lower cost is desirable.
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10. REFERENCES
1. An application note an885 from microchip technology incorporated, brushless dc
(BLDC) motor fundamentals 2003.
2. An application note an857 from microchip technology incorporated, brushless dc
motor control made easy, 2002.
3. Advances in brushless dc motor technology, control, and manufacture by George
Ellis kollmorgen corporation Radford, Virginia, USA...
4. Permanent magnet brushless dc motors for consumer products by s. Bentouati,
z.q. Zhu and d. Howe, university of Sheffield.
5. Selection of electric motors for aerospace applications practices no. Pd-ed-1229,
by NASA.
6. Texas instruments DSP solutions for BLDC motors, literature number: bpra055
march 1997.
7. Texas instruments, tms320lf/lc240xa DSP controllers reference guide system and
peripherals literature number: spru357b December 2001.
7.
8.
Deng Bing, pan junmin, research and development of control system in digital
valve electric actuator, iecon01, conference of the IEEE industrial electronics
society, 2001.
9.
10.
11.
12.
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10. WEBSITES
1. www.ti.com
2. www.ieee.com
3. www.iete.com
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