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Major Project report submitted in partial fulfillment of the requirements For the award of the degree of
DEPARTME
NT OF
CERTIFICATE
This is to certify that the major-project report entitled SPEED CONTROL OF A SWITCHED RELUCTANCE MOTOR USING MICROCONTROLLER that is being submitted by MOUNICA.P, JHANSI RANI.CH, DEEPTHI.S in partial fulfillment for the award of the Degree of Bachelor of Technology in Electrical and Electronics Engineering to the Jawaharlal Nehru Technological University is a record of bonafide work carried out by them under my guidance and supervision. The results embodied in this project report have not been submitted to any other University or Institute for the award of any Graduation degree.
Mr.P.M.Sarma
HOD, EEE GRIET Hyderabad
Mr. C.K.sarma
Professor Dept. of EEE GRIET
External Examiner
ACKNOWLEDGEMENT
This is to place on record my appreciation and deep gratitude to the persons Without whose support this project would never seen the light of day. I wish to express my propound sense of gratitude to Mr. P. S. Raju, Director, G.R.I.E.T for his guidance, encouragement, and for all facilities to complete this project. I also express my sincere thanks to Mr.P.M.Sarma, Head of the Department, G.R.I.E.T and for extending their help. I have immense pleasure in expressing my thanks and deep sense of gratitude to my guide Mr. C.K.Sarma, Professor, Department of Electrical and Electronics Engineering, G.R.I.E.T for his guidance throughout this project.
Finally I express my sincere gratitude to Mr. S. N.Saxena, Professor, Department of Electrical and Electronics Engineering, G.R.I.E.T and Mr.R.Anil Kumar, Assistant Professor, Department of Electrical and Electronics Engineering, G.R.I.E.T, and all the
members of faculty and my friends who contributed their valuable advice and helped to complete the project successfully.
DEEPTHI.S
(08241A0207)
ABSTRACT
Switched reluctance motor (like the stepper motor) carries windings only on the stator and
operates on the reluctance principle .Its rotor position is sensed and used to switch on and switch off phase windings. It is now being made up to 0.5 to 80 KW and it is used in applications like washing machine, fans, aircrafts, vacuum cleaner, servo drives, Fuel pump operations etc Inductance of a phase winding in a switched reluctance motor varies with rotor position. Direction of the developed torque does not depend on the direction of current, but it does depend on change in inductance with respect to rotor position. For a unidirectional torque, current must be present in the coil only when the rate of change of coil inductance with rotor position is positive. Study of switching methods to obtain currents of the desired waveforms in an inductance are the main aim of the project.
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CONTENTS 1. Introduction
1.1 1.2 1.3 2.1 2.2 2.3 2.4 2.5 3.1 3.2 3.3 About Switched Reluctance Motor Advantages and Disadvantages of Switched Reluctance Motor Desired Waveform of Current In a Stator Coil Construction Principle of Operation The Relationship Between Inductance and Rotor Position Aligned Inductance and Unaligned Inductance To Obtain the Current Waveform Power Converter Topology Energizing the Switched Reluctance Motor Torque Speed Characteristics of a Switched Reluctance Motor
6.6.3 Schematic layout of driver circuit 6.7 Difficulties Encountered During Simulation 6.7.1 Simulation in Proteus 6.7.2 Simulation in MATLAB
7. Hardware Implementation
7.1 7.2 7.3 7.4 7.5 Power Supply Circuit Driver Circuit Microcontroller Circuit Interfacing Microcontroller with Driver Circuit Complete Circuit Testing 7.5.1 current waveform 7.6 Difficulties Encountered on Hardware 7.6.1 First Difficulty 7.6.2 Second Difficulty
8. Conclusion and Scope for Future Work References Appendix A Appendix B Appendix C Appendix D Appendix E
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LIST OF FIGURES
Figure 2.1 ------------------------------ 6/4 pole machines Figure 2.2 ------------------------------ Four distinct inductance regions emerge Figure 2.3 ------------------------------ Inductance profile Figure 2.4 ------------------------------ Aligned Position Figure 2.5 ------------------------------ Voltage PWM-Hard/Soft chopping Figure 2.6 ------------------------------ General Motor Control Design Figure 3.1------------------------------- Variation of reluctance of the flux path of a phase Figure 3.2 ------------------------------ Half-Bridge Inverter Figure 3.3 ------------------------------ Torque Speed Characteristics of a Switched Reluctance Motor Figure 5.1 ------------------------------ Power supply Circuit for microcontroller Figure 5.2 ------------------------------ Power Supply Circuit for Switched Reluctance Motor Figure 6.1 ------------------------------ Switching circuit of Switched Reluctance Motor for three phases Figure 6.2 ------------------------------ Current waveform across three phase windings Figure 6.3 ------------------------------ Circuit connections in MATLAB Figure 6.4 ------------------------------ Switched Reluctance Motor characteristics in MATLAB simulation
CHAPTER 1 INTRODUCTION
1.1 ABOUT SWITCHED RELUCTANCE MOTOR
Electrical machines can be classified into two categories on the basis of how torque is developed in them: electromagnetically or through variation of reluctance. In the first category, motion is produced by the interaction of two magnetic fields, one generated by the stator and the other by the rotor. Two magnetic fields, mutually coupled, produce an electromagnetic torque tending to bring the fields into alignment. The same phenomenon causes opposite poles of bar magnets to attract and like poles to repel. The vast majority of motors in commercial use today operate on this principle. In the second category, motion is produced as a result of the variable reluctance in the air gap between the rotor and the stator. When a stator winding is energized, producing a single magnetic field, reluctance torque is produced by the tendency of the rotor to move to its minimum reluctance position. This phenomenon is analogous to the force that attracts iron or steel to permanent magnets. In those cases, reluctance is minimized when the magnet and metal come into physical contact. Switched reluctance motor falls into this class of machines. In Switched reluctance motor, switching of supply from one stator to the next causes minimum reluctance position of the rotor to change continuously thus producing rotation. By controlling the switching strategy, and the current flowing through the stator coils, we can control the torque and the speed of the motor. Because of their simple mechanical construction switched reluctance motors are of low cost. This has motivated a large amount of research on these motors in the last decade. The mechanical simplicity of the device, however, comes with some limitations. Like the brushless dc motor, switched reluctance motors cannot run directly from a dc bus or an ac bus, but must always be electronically commutated. Also, the saliency of the stator and rotor, necessary for the machine to produce reluctance torque, causes strong non-linear magnetic characteristics, complicating the analysis and control of the Switched Reluctance Motor.
Disadvantages:
The Switched Reluctance Motor also comes with a few disadvantages among which torque ripple and acoustic noise are the most critical. The higher torque ripple also causes the ripple current in the DC supply to be quite large, necessitating a large filter capacitor.
2. The torque constant is given by the slope of the inductance vs. rotor position characteristic. It is understood that the inductance of a stator winding is a function of both the rotor position and current, thus making it nonlinear. Because of its nonlinear nature, a simple equivalent circuit development for this motor is not possible. 3. Since the torque is proportional to the square of the current hence, it has a good starting torque. 4. The direction of rotation can be reversed by changing the sequence of stator poles excitation, which is a simple operation.
Where s and r are stator and rotor pole arcs, respectively, and
1. 0 1 and 4 5:
The stator and rotor poles are not aligned in this region and the flux is predominantly determined by the air path, thus making the inductance minimum and almost a constant. Hence, in this region there is no torque production. The inductance in this region is known as .
2. 1 2:
Poles are aligned, so the flux path is mainly through stator and rotor laminations. This increases the inductance with the rotor position, giving it a positive slope. A current impressed in the winding during this region produces a positive (i.e., motoring) torque. This region comes to an end when the aligning of poles is complete. 3. 2 3: During this period, movement of rotor pole does not alter the complete align of the stator pole and does not change the dominant flux path. This has the effect of keeping the inductance maximum and constant, and this inductance is known as .
4. 3 4:
The rotor pole is moving away from aligned stator pole in this region. This is very much similar to the 1 2 region, but it has decreasing inductance and increasing rotor position contributing to a negative slope of the inductance region. The operation of the machine in this region results in negative torque (i.e., generation of electrical energy from mechanical input to the switched reluctance machine).It is not possible to achieve the ideal inductance profiles shown in Figure above in an actual motor due to saturation.
Figure 2.4 Aligned Position CASE 1: When =0 Axis of the stator pole is in alignment with the rotor pole as shown in the figure 2.4(a). Therefore the inductance of the coil is LA, because the stator reference axis and rotor reference axis are in alignment. At this position flux linkage of phase winding of stator has maximum value and hence inductance of phase winding has maximum value for given current.
Figure 2.4(a)
of rotor pole is along the edge of stator pole. At this position reluctance is minimum. Then the
Figure 2.4(b)
In this position, the flux pattern is such that the flux linkages / unit current of the stator is less than the previous case but not minimum. Therefore L < LA and L > LU.
Figure 2.4(c)
Figure 2.4(d)
Figure 2.4(e)
Figure 2.5 Voltage PWM-Hard/Soft chopping Voltage PWM chopping can be realized in two ways with this drive topology, soft chopping and hard chopping. Figure 2.5 shows the difference and the phase current, flux linkage, voltage and inductance profile. Soft chopping is when only the high side power switch is chopping; the other switch remains permanently on. Hard chopping is when both transistors are switched on/off together. It generally produces more electric noise, it also generates more current ripples, and therefore soft chopping was realized in this application.
The Figure2.6 shows a schematic for general motor control design with a microcontroller.
Figure 2.6 General Motor Control Design The function of the components in detail: Main supply: Provides circuits energy. Microcontroller power supply: Regulates voltage and current for the microcontroller Microcontroller: Produces the accurate signals for switching the MOSFETS also contains protection circuit, which ensures that a certain current value is not exceeded. Driver: Switches the power necessary for the motor phases
Switching Strategy:
Switched Reluctance Motors are controlled by synchronizing the energizations of the motor phases with the rotor position.
Figure 3.1 Variation of reluctance of the flux path of a phase The shape of this curve is decided by number of teeth on stator and rotor, which will be different. As long as dR/d is negative; torque will aid the motion and we would like to keep the current going. When dR/d becomes positive; torque opposes motion and we switch off current in that phase. To achieve an approximation to this current, we have to use PWM for supply voltage .Control of speed is achieved by varying the magnitude of the phase voltage. (Larger voltage larger current larger torque larger steady state speeds)
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through both diodes (-Vs-D2-phase a-D1-+Vs). By appropriately coordinating the above three switching states, phase current of the Switched Reluctance Motor controlled.
Figure 3.2
Half-Bridge Inverter
R-resistance of coil
Where
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i)
V=R i(t)
With I constant at Irated; Td=constant= KIrated2. If we keep increase V such that i is Irated; power input increases, while developed torque is constant at Td. But for power balance,
This continues till a speed called base speed is reached .Beyond that speed, supply voltage cannot be increased any more, EMF increases. So current will decreases, torque will decreases.
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pulse5=0; delay1(); } for(i=1;i<=2;i++) { pulse=1; pulse1=1; pulse2=0; pulse3=0; pulse4=0; pulse5=0; delay1(); pulse1=0; delay1(); } for(i=1;i<=3;i++) { pulse=1; pulse1=1; pulse2=1; pulse3=1; pulse4=0; pulse5=0; delay1(); pulse1=0; pulse3=0; delay1(); }
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for(i=1;i<=3;i++) { pulse=0; pulse1=0; pulse2=1; pulse3=1; pulse4=0; pulse5=0; delay1(); pulse3=0; delay1(); } for(i=1;i<=2;i++) { pulse=0; pulse1=0; pulse2=1; pulse3=1; pulse4=1; pulse5=1; delay1(); pulse3=0; pulse5=0; delay1(); } for(i=1;i<=3;i++) {
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pulse=0; pulse1=0; pulse2=0; pulse3=0; pulse4=1; pulse5=1; delay1(); pulse5=0; delay1(); } } } void delay1() { TMOD=0X01; TL0=0XC0; TH0=0XFD; TR0=1; while(TF0==0); TF0=0; TR0=0; }
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Rectifier Unit:
The rectifier circuit is used to convert the ac voltage into its corresponding dc voltage. The most important and simple device used in rectifier circuit is the diode. The simple function of the diode is to conduct when forward biased and not to conduct in reverse bias.
Regulator unit:
Regulator regulates the output voltage to a specific value. The output voltage is maintained irrespective of the fluctuations in the input dc voltage. Whenever there are any ac voltage fluctuations, the dc voltage also changes.
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Regulators used in this application are: 1.7805 which provides 5v dc 2.7812 which provide 12v dc
Output Filter:
This filter is fixed after the Regulator circuit to filter any of the possibly found ripples in the output received finally. Capacitors used here are of value 10UF.
Operation:
This is a common topology used for this type of motor as it allows each phase to be energized independently. Consider phase-A, the voltage applied to the phase winding is +12V when the Q1 and Q2 are on (+Vs-Q1-phase a-Q2- -Vs). Phase current then increases through both switches. If Q1 is off while the Q2 is still on, the winding voltage will be zero. Phase current then slowly decreases by freewheeling through Q1and D1.When Q1 and Q2 are off, the phase winding will experience -12V voltage. Phase current then quickly decreases through both diodes (-Vs-D2-phase a-D1-+Vs). By appropriately coordinating the above three switching states, phase current of the Switched Reluctance Motor controlled.
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T2 6.93
T3 3.56
T4 4.05
T5 5.1
T6 2.87
T7 6.93
T8 2.23
T9 9.1
T10 1.82
T11 1203
T12 1.54
T13 16.09
T14 5.52
T15 80
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Figure 6.1
Switching circuit of Switched Reluctance Motor for three phases
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Figure 6.4
Switched Reluctance Motor characteristics in MATLAB simulation
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Here the inductance value is 5mH and this is the current waveform which is not accurate. Hence we have find out the inductance range i.e.; 15mH to 30mH with resistance of below 20
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This is for the frequency of 200Hz, the speed oscillates continuously and after certain time period it oscillates in the negative direction. For which the motor stops running.
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The power supply circuit consists of two IRFZ540N mosfets, two diodes, one inductor of 20mH with 1ohm internal resistance is considered as one phase winding of the motor.The MOSFET Q2 is on and off for eight times,where as MOSFET Q1 is continously on.After that the two MOSFETS should be turned off for some period.And then the cycle repeats. when the MOSFET Q1 and Q2 are on (+Vs-Q2phase winding-Q1- -Vs). Phase current then increases through both switches. If MOSFET Q2 is off while the Q1 is still on, the voltage through phase winding will be zero. Phase current then slowly decreases by freewheeling through Q2and D2.When Q1 and Q2 are off, the phase winding will experience -12V voltage. The current through phase winding quickly decreases through both diodes (Vs-D1-phase a-D2-+Vs). By appropriately coordinating the above three switching states, phase current of the SWITCHED RELUCTANCE MOTOR can be controlled.
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This is the driver circuit we are using for switching the MOSFETS.74LS 40 IC an TLP250 IC are used in this circuit.The pins used in microcontroller are connecte to input pin of 74LS 40 IC, then this is connected to output pin.At this pin voltage is step up.That output Voltage is given to the gate terminals of the MOSFET. In this way the MOSFETS are on.
The microcontroller is embedded with a C program. It is designed in such a way that the ports should be on/off at appropriate times. These pulses are giving to MOSFETS. The output is checking with an oscilloscope.
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8051 chips are used in a wide variety of control systems, telecom applications, and robotics as well as in the automotive industry. By some estimation, 8051 family chips make up over 50% of the embedded chip market. The 8051 architecture developed by Intel has proved to be the most popular and enduring type of microcontroller, available from many manufacturers and widely used for industrial applications and embedded systems as well as being a versatile and economical.
The pins used in microcontroller are giving to the inputs of driver circuit,then the output pins of the driver circuit is giving to the gate terminal of the MOSFETS.
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Checking the current waveform across the phase winding (inductor of 20mH).Here we are connecting a 10ohm resistor in series with an inductor, the probes of oscilloscope are put across the resistor. The output is seen in the oscilloscope. The current waveform is as shown below.
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We have considered secondary winding of the transformer, rating of 15v-0v-15v, 500MA L=62.5mH with internal resistance of R=65 . The resistance value is very high, due to this reason the required waveform is not obtained.
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We have considered an rectangle core material, and we have turned 200 turns, the inductance of the core coil 1mH and resistance is 140 ohms, which is not sufficient to get the required waveform.
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REFERENCES
[1] Website: www.wikipedia.com/8051 [2] Website: www.google.com/eagle_software [3] Website: http://www.ti.com/lit/an/spra420a/spra420a.pdf [4] Michael T.DiRenzo, Switched Reluctance Motor Control, [5] Website: www.isis.com/proteus [6] A K Ray, Microprocessor and Microcontroller,
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