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CHAPTER 2
CONVENTIONAL METHODS OF SPEED CONTROL
OF PMBLDC MOTOR
2.1
INTRODUCTION
PMBLDC motor is basically a surface mounted non-salient pole
using 3-phase abc variables. The volt -ampere equation for the circuit shown
in the Figure 2.2 can be expressed as given in Equations (2.1) to (2.3).
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v an
Ri a
d a
dt
e an
(2.1)
v bn
Ri b
d b
dt
e bn
(2.2)
v cn
Ri c
d c
dt
e cn
(2.3)
where van, vbn and vcn are phase voltages where values are given in Equation (2.4)
van = vao- vno, vbn= vbo - vno and vcn = vco - vno.
(2.4)
where vao, vbo, vco and vno are three phase and neutral voltages referred to the
zero reference potential at the mid- point of dc link as shown in the Figure 2.2
R is the resistance per phase of the stator winding
d
- is the time differential operator and
dt
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a,
and
are total
(2.5)
(2.6)
(2.7)
where Ls and M are the self and mutual inductance of the stator coil
respectively. The PMBLDC motor has no neutral connection hence, we have
ia+ ib+ ic =0
(2.8)
= ia(Ls + M)
(2.9)
b= ib (Ls
+ M)
(2.10)
c= ic (Ls
+ M)
(2.11)
di a
dt
di b
dt
1
(L s
M)
1
(L s
M)
[Van
Ri a
e an ]
(2.12)
[Vbn
Ri b
e bn ]
(2.13)
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di c
dt
1
(L s
M)
[ Vcn
Ri c
e cn ]
(2.14)
(2.15)
d r
dt
(P / 2)
(Te
TL B
J
(2.16)
d
dt
(2.17)
The potential of the neutral point with respect to the zero potential
(vno) is required in order to avoid imbalance in the applied voltage and
simulate the performance of the drive. This neutral point voltage is obtained
by substituting Equations (2.8) in the volt-ampere Equations (2.1) to (2.3) and
adding them together. Hence,
vao +vbo +vco-3vno = R(ia+ ib+ ic)+(Ls + M) (dia/ dt + dib/dt + dic/dt)+(ean+ ebn+ecn)
(2.18)
Substituting Equation (2.8) in Equation (2.18) and simplifying we
get,
vao +vbo +vco-3vno = (ean + ebn+ecn)
(2.19)
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(2.20)
r,
nature and are the functions of the speed and rotor position angle ( r). The
phase back- Emf ean can be expressed as given in Equations (2.21) to (2.24)
ean = E
ean = (6E/ ) ( - r) - E
120 <
ean = -E
ean = (6E
/) ( r -2 ) + E
<
<120
(2.21)
< 180
(2.22)
180 <
< 300
(2.23)
300 <
< 360
(2.24)
where E = Kb .
and ean can be described by E as shown in Figure 2.3.
The back-Emf functions of other two phases ebn and ecn are defined
in similar way using E.
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32
At any given time, only two switches out of the six switches of an
inverter are conducting. This means that only two phases are conducting at
any instant, with current entering in one of the phases and leaving through the
other. The convention used in this thesis is that, the current entering any
phase of a motor is assigned a positive sign and the current that is leaving any
phase of a motor is assigned a negative sign. Therefore, the upper switches of
the inverter, namely, S1, S3 and S5, carry a current (flowing into the motor)
which is assigned a positive sign. The lower switches of the inverter, namely,
S2, S4 and S6 carry a negative current (flowing out from the motor).
33
voltage control method with PI controller uses speed regulator to control the
DC bus voltage is as shown in Figure 2.7. The three phase inverter fed
PMBLDC motor uses MOSFET as the switch.
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Figure 2.7
Two control loops are used to control the speed of PMBLDC motor,
in which the inner loop synchronizes the output of the inverter with the back
EMF of the motor. The outer loop controls the speed of the motor, by varying
the DC bus voltage using PI controller. The actual speed of the motor is
compared with its reference value and the error in speed is processed by the
PI controller. The output of PI controller is applied as the input voltage.
The stator voltage to the motor is varied in linear proportion to the supply
frequency to maintain the flux at a constant value. Hall sensors are used to
identify the rotor position. The gates of the inverter are controlled by the Hall
effect switches, passing through a gates decoder.
35
These waves are in phase with the respective phase voltage. Each of Hall
sensor states correspond to a certain stator flux vector. The Hall sensor states
with corresponding stator flux vectors are illustrated in Figure 2.8. The same
information is detailed in Table 2.1.
Table 2.1 Truth Table Representation of Stator Vector Flux
-1
+1
-1
+1
-1
+1
+1
-1
+1
-1
+1
-1
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The decoder circuit is shown in Figure 2.9. This circuit uses logical
AND gates and generates EMFs based on the Hall sensor signals.
37
S1
S2
S3
S4
S5
S6
-1
+1
-1
+1
-1
+1
+1
-1
+1
-1
+1
-1
Motor Specifications
The PMBLDC motor specification is given in Table 2.3.
Table 2.3 The PMBLDC Motor Specification
Type
Trapezoidal Motor
Voltage
415 Volts
Stator Resistance
18.7 ohms
Inductance
0.02682 H
0.1717 wb
Friction Factor
1.349e-005
Pole Pairs
Back Emf
Trapezoidal
RatedSpeed
1500 rpm
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2.4.2
Simulation Results
Figure 2.11 shows the gate driving pulses to the MOSFETs. These
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Figure 2.13
40
Load disturbance is
Figure 2.15 Variation of Speed Response with Ramp + Step and Step
Load
41
Figure 2.16 shows the variation of torque for Step load and Ramp
followed by Step load. While using Step load the torque increases to nearly
15 N-m when the motor starts and stabilizes rapidly when the motor reaches
the reference value.
Figure 2.16 Comparison of Variation in Torque Ramp+ Step and Step Load
The speed variation curve with and without disturbance using Ramp
followed by Step load is shown in Figure 2.17. Load disturbance is applied at
t = 25 seconds. The PI controller is capable of tracking the desired speed at
t = 37.5 seconds. It takes 12.5 seconds delay to reach the desired speed.
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2.5
scheme is shown in Figure 2.18. The FLC scheme observes the pattern of
the speed loop error and correspondingly updates the output of the controller
to match the actual speed with the reference speed.
The triangular
membership function with 7 linguistic variables and 49 rules are used in the
FLC design.
43
output is one of the fuzzy sets used to partition the outer space. The Table 2.4
shows the FLC design parameters for the voltage control based speed control
of PMBLDC motor in the presence of Hall sensors.
Table 2.4
Parameters
Membership Function
No. of Input variables
Values
Triangular
2(error, change in error)
No. of linguistic variables error- NL, NM, NS, ZE, PS, PM, PL
change in error- NL, NM, NS, ZE, PS, PM, PL
Decision making logic
Defuzzification
No. of rules
Max-Min logic
Centre of Area
49
The two input space use a total of fourteen triangles, so that the
string to represent a given rule set and membership function combination
would have forty nine bits as shown in Table 2.5.
Table 2.5 Rule Base Matrix
e(u)/ ce(u)
NL
NM
NS
ZE
PS
PM
PL
NL
NL
NL
NL
NL
NM
NS
ZE
NM
NL
NL
NL
NM
NS
ZE
PS
NS
NL
NL
NM
NS
ZE
PS
PM
ZE
NL
NM
NS
ZE
PS
PM
PL
PS
NM
NS
ZE
PS
PM
PL
PL
PM
NS
ZE
PS
PM
PL
PL
PL
PL
ZE
PS
PM
PL
PL
PL
PL
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2.5.1
Simulation Results
The simulation is carriedout in the presence of Step load disturbance
with the fuzzy controller. Figure 2.19 shows the speed response plot of FLC
and PI controller schemes. There is an overshoot in FLC, but it settles with
lesser settling time of 3.5 seconds and also settles at rated speed. Though,
there is slight overshoot in PI controller it takes 6 seconds to settle with a
speed of 1480 rpm which is lesser than rated speed.
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46
electric torque. In the case of PI controller, the torque raises nearly to 15N-m
when the motor starts and takes larger time to stabilize compared to FLC
scheme.
Table 2.6 shows the comparison of performance analysis of PI and
FLC controller. It is clear that the FLC has improved performance in all
aspects compared to conventional PI controller. The results have shown that
fuzzy controller is robust to external load disturbances. The performance of
the PMBLDCM drive with the application of FLC in reference to both the
steady state and the dynamic conditions is improved.
Table 2.6 Performance Analysis
Performance measures
Settling Time (Ts) in Seconds
RMS current in amperes
IAE
ISE
THD in %
2.6
PI
6
1.93
25.59
13700
4.072
FLC
3.5
3.066
14.04
8599
2.278
SUMMARY
In the PI and FLC schemes presented above, there are two
drawbacks. Embedding the Hall sensors into the stator is a complex process
and involves high implementation cost. Moreover, the stator current contains
harmonics which deteriorate the motor performance.
Hence, sensorless