International Journal of Emerging Technology and Advanced Engineering
Website: www.ijetae.com (ISSN 2250-2459, Volume 2, Issue 8, August 2012)
153
Modelling Of Brushless DC Motor Drive Using Sensored And Sensorless Control(back EMF zero crossing etection) Preetha Philip 1 , Dr. Meenakshy K 2 1 M.Tech Student, 2 Associate Professor, Dept. of Electrical Engg. Govt. Engineering College, Thrissur Abstract This paper describes the modelling and hardware implementation of brushless DC motor drive based on sensored and sensorless control (back Emf zero crossing detection) algorithm. The dynamic equations of the motor are modelled in MATLAB/SIMULINK. In addition to this, speed PI controller block, current hysteresis controller block, current reference block, inverter block and commutation logic block, are modeled and the entire drive is simulated. For sensored control, commutation logic is obtained from rotor position detection, and for sensorless control, it is obtained from back EMF zero crossing detection. A TMS320F28035 based sensored and sensorless BLDC drive system has been implemented using high voltage digital motor controller kit. Keywords- BLDC, Back EMF zero crossing detection, MATLAB, Sensored control, Sensorless control, modelling and simulation. I. INTRODUCTION Household appliances are expected to be one of fastest- growing end-product market for electric motor drivers (EMDs) over the next few years. The major appliances include cloth washers, room air conditioners, refrigerators, vacuum cleaners, freezers, etc. These appliances have traditionally relied on classic electric motor technologies such as DC motors, single phase AC induction motors, including split phase, capacitor-start, capacitorrun types, and universal motors. These motors typically are operated at constant-speed directly from main AC power without regarding the efficiency. Consumers now demand for lower energy costs, better performance, reduced acoustic noise, and more convenient features. The traditional technologies cannot meet these demands. Permanent magnet brushless dc (PM BLDC) motors are becoming more and more popular in various applications owing to their superior controllability and performance. The modelling and simulation analysis for BLDCM based on computer engineering can effectively shorten development cycle of position control of BLDCM drive and evaluate rationality of the control algorithm imposed on the system, which provides a good foundation and method for system design and verifying novel control strategy. II. MATHEMATICAL MODEL OF BLDCM Fig.2.1 shows a dynamic equivalent circuit of the BLDC motor. For this model, the stator phase voltage equations in the stator reference frame of the BLDC Motor are given as in Eq. (2.1)-(2.5). The following assumptions are made:1) the three phase windings are symmetrical, 2) magnetic saturation is neglected, 3) hysteresis and eddy current losses is not considered, and 4) the inherent resistance of each of the motor windings is R ,the self- inductance is L, and the mutual inductance is M.
Fig 2.1 Dynamic equalent circuit
(2.1) Where, Ua, Ub and Uc are the phase voltage of three- phase windings, ia, ib and ic are the phase current, and ea, eb and ec are the back EMF. ( ) = 1 0 < u r < 120 = (6 t) (t u r ) 1 120 < u r < 180 = 1 180 < u r < 300 = (6 t) (u r 2t) + 1 300 < u r < 360 Electrical power of motor can be calculated using Eq. (2.2) P= + + (2.2) Electromagnetic torque can also be expressed as Eq. (2.3). Speed is derived from rotor position r as in Eq. (2.4).
International Journal of Emerging Technology and Advanced Engineering Website: www.ijetae.com (ISSN 2250-2459, Volume 2, Issue 8, August 2012) 154
+ (2.3) (2.4) = (2.5) From the above equations, BLDC motor can be modeled. III. IMPLEMENTATION OF SIMULATION MODEL IN MATLAB/SIMULINK According to the mathematical model given above, the complete motor drive is simulated in MATLAB/ SIMULINK environment. A double-loop control scheme is used in this system, where the outer loop is speed loop with PI controller and the inner loop is current loop with hysteresis controller. The entire drive is divided into several functional blocks, which includes BLDCM body block, speed PI controller block, current hysteresis controller block, current reference block, inverter block and commutation logic block. By the logical combination of these blocks, the simulation model of BLDCM drive is implemented. A. Body Block The body block of BLDCM is the core part of simulation model for the total control system, which includes rotor speed and torque calculation, as well as solution of the back EMF waveform. The piecewise linear method is selected to produce the trapezoidal back EMF waveform, which divides one period of 0-360 into six commutation stages. Each running stage can be expressed by a section of line, as shown in table 3.1. According to the signals of rotor position and speed at any time, the running station of each stage will be determined. Fig 3.1 shows the body block of BLDC motor modeled in SIMULINK.
TABLE 3.1 Back-EMFs modeled as a normalized function of rotor position Theta_elec
0 0 60 0
1 -1
60 0 120 0
1
-1 120 0 180 0
1 -1 180 0 240 0
-1 1
240 0 300 0
-1
1 300 0 360 0
-1 1
Fig 3.1The body block of BLDCM
International Journal of Emerging Technology and Advanced Engineering Website: www.ijetae.com (ISSN 2250-2459, Volume 2, Issue 8, August 2012) 155
B. Current Hysteresis Controller Block The aim of this block is to achieve hysteresis current control, in which input signals are three phase reference currents and actual currents, and output signals act as the control signals of inverter, as shown in Fig. 3.2.
Fig 3.2 Current hysteresis controller block C. Speed PI Controller Block The speed control uses PI regulator. Its integral term has the effects of accumulation, memorization and delay, which enables PI controller to remove static error. The block diagram of speed PI controller is shown in Fig.3.3. The Saturation block limits the amplitude of three phase reference current output to the demanding range.
Fig 3.3 Speed PI controller block D. Current Reference Block The action of the current reference block is to produce three-phase reference currents depending on the signal of current amplitude, Is, and the position signal. The output of this block is given to the current hysteresis controller. - Sensored Control: The rotor position is sensed for each 60 0 , and correspondingly, reference current is generated. Table 3.2 shows relation between the rotor position and the three-phase reference current and Fig.3.4 shows the switching sequence.
TABLE 3.2 Relationship between reference current and rotor position theta Iar Ibr Icr
Is -Is 0
Is 0 - Is
0 Is -Is
- Is Is 0
- Is 0 Is
0 - Is Is
Fig 3.4 Reference current generation using sensored control Fig 3.5 shows the entire BLDC motor drive implemented in MATLAB/SIMULINK.
International Journal of Emerging Technology and Advanced Engineering Website: www.ijetae.com (ISSN 2250-2459, Volume 2, Issue 8, August 2012) 156
Fig 3.5 Reference current generation using rotor position detection - Sensorless control (Back EMF zero crossing detection): Back EMF zero crossing detection is used to generate reference current. The output of this block is given to current hysteresis controller block to determine the control signals of the inverter block.
Fig 3.6 Reference current generation using back EMF zero crossing detection algorithm
Back EMF zero crossing detection circuit output gives signals similar to hall sensor signals. Thus they can be effectively used for generating appropriate reference current .Figure 3.7 illustrates the same.
Fig 3.7 Line voltage Eac, Phase voltage Ea, hall sensor outputs IV. RESULTS OF MODELLING Simulation results obtained from modelling the BLDC motor drive using rotor position detection and by Back EMF zero crossing detection is shown below. A. Rotor Position Detection Technique Plot of theta Vs. Time:
Fig 4.1 Rotor position Vs time Back EMF waveforms: Figure 4.2 shows the back EMF waveforms obtained at a reference speed 3000 rpm at no-load using rotor position detection. The waveforms obtained are 120 flat topped trapezoidal, as expected from the motor model.
Fig 4.2 Back EMF waveform
International Journal of Emerging Technology and Advanced Engineering Website: www.ijetae.com (ISSN 2250-2459, Volume 2, Issue 8, August 2012) 157
Phase currents: Figure 4.3 shows the phase current waveforms at no load.
Fig 4.3 Phase currents at no-load Speed- time plot: The speed Vs. time graph is shown in figure 4.4.The motor reaches the reference speed at 0.05 s.
Fig 4.4 Speed Vs time plot Phase currents (for a step load of 0.15 Nm at 0.2s): Figure 4.5 shows the waveforms of the three phase currents when a load of 0.15Nm is applied at 0.2 s
Fig 4.5 Phase currents for a step load of 0.15 Nm Torque Vs. time (for a step load of 0.15 Nm at 0.2s): Figure 4.6 shows the plot of torque Vs. time.
Fig 4.6 Torque Vs. time graph for a step load of 0.15 Nm B. Back EMF Zero Crossing Detection Technique Back EMF waveforms: Figure 4.7 shows the back EMF waveforms obtained at a reference speed of 3000 rpm, at no-load. The waveforms obtained are 120 flat topped trapezoidal, as expected from the motor model.
Fig 4.7 Back EMF waveforms Phase currents: Figure 4.8 shows the phase current waveforms at no load.
Fig 4.8 Phase currents at no-load
International Journal of Emerging Technology and Advanced Engineering Website: www.ijetae.com (ISSN 2250-2459, Volume 2, Issue 8, August 2012) 158
Speed- time plot: The speed Vs. time graph is shown in figure 4.9.The motor reaches the reference speed at 0.05 s
Fig 4.9 Speed Vs time plot Phase currents (for a step load torque of 0.15 Nm at 0.2s): Figure 4.10 shows the waveforms of the three phase currents when a load of 0.15Nm is applied at 0.2 s.
Fig 4.10 Phase currents for a step load of 0.15 Nm The parameters of the motor used for modelling are given in Table 3.3 TABLE 3.3 The parameters of BLDC motor Stator resistance (Rs) 11 ohm Stator inductance (Ls) 33.5mH Back EMF constant 37.8V/Krpm Torque constant 43.4 oz-in/A No-load current 0.2 A V. HARDWARE IMPLEMENTATION AND RESULTS For validating the simulation studies, hardware has to be set up for the proposed methods. Circuit implementation consists of two sections, the control circuit and the power circuit. Control circuit comprises of the microcontroller TMS320F28035, which acts as Commutation sequencer, regulated DC power supply for microcontroller and driver circuit. Power circuit comprises of a 160V DC supply, three phase bridge inverter and BLDC motor. A High Voltage Digital Motor Control kit, TMDSHVMTRPFCKIT is used to implement the hardware of sensored and sensorless control of brushless DC motor. A. Hardware Implementation Of Sensored Control Circuit overview: The figure 5.1 shows the schematic diagram of the experimental set up of BLDC motor drive with sensored control.
Fig 5.1 Schematic diagram of experimental setup (sensored control) Flow chart: Program mainly consists of two loops, the main loop and the ISR loop. In the main loop, all the peripherals used in BLDCM control, are initialized. The ISR loop is executed when the enable flag is set high. The flow chart for the sensored control is shown in figure 5.2.
International Journal of Emerging Technology and Advanced Engineering Website: www.ijetae.com (ISSN 2250-2459, Volume 2, Issue 8, August 2012) 159
Fig 5.2 Flow chart for sensored control Hardware results for sensored control: - Gate pulses: 1L 1H
2L 2H
3L 3H
- Back EMF waveform (obtained in ccs4 at a speed of 746 rpm)
- MOD 6 counter output (obtained in ccs4 at a speed of 746 rpm)
- Hall sensor outputs HALL A
International Journal of Emerging Technology and Advanced Engineering Website: www.ijetae.com (ISSN 2250-2459, Volume 2, Issue 8, August 2012) 160
HALL B
HALL C
- Back EMF waveform Ea( obtained at a speed of 2400 rpm) Back EMF waveform Ea
Back EMF waveform Eb
B. Hardware Implementation Of Sensorless Control (Back EMF Zero Crossing Algorithm) Circuit overview: The figure 5.3 shows the schematic diagram of the experimental set up of BLDC motor drive with sensorless control.
Fig.5.3 Schematic diagram of experimental setup for sensorless control Flow chart: Program mainly consists of two loops, the main loop and the ISR loop. In the main loop, all the peripherals used in BLDCM control, are initialized. The ISR loop is executed when the enable flag is set high. The flow chart for the sensorless control is shown in figure 5.4
Fig 5.4 Flow chart for sensorless control
International Journal of Emerging Technology and Advanced Engineering Website: www.ijetae.com (ISSN 2250-2459, Volume 2, Issue 8, August 2012) 161
Hardware results for sensorless control: - Gate pulses: 1L 1H
2L 2H
3L 3H
- Back EMF waveform (obtained at reference speed- 2400 rpm) Ea
Eb
Ec
VI. CONCLUSION Based on the mathematical model of the BLDCM, the modelling and simulation, for the specified motor is presented in this paper. The simulation results satisfy the theoretical analysis. The control system is found to operate stably and has the fairly good dynamic and static characteristics. Using this simulation model built for BLDCM, advanced control algorithms can be verified conveniently. Through the modularization design, a lot of time can be saved and the design efficiency can also be improved significantly. REFERENCES [1 ] M. H. Rashid, Power Electronics, Prentice Hall, 1993. [2 ] R. Krishnan, Electric Motor Drives: Modeling Analysis, and Control, Prentice Hall, 2001. [3 ] P. Pillay, R. Krishnan, Analysis of permanent-magnet motor drives. I: The permanent-magnet synchronous Motor Drive, IEEE Transactions on Industry Applications, vol. 25, No. 2, March 1989, pp. 265-273. [4 ] P Pillay, Krishnan R, Modeling, simulation, and analysis of permanent-magnet motor drives, Part II: The brushless DC motor drive, IEEE Trans. on Industry Applications, vol. 25, No. 2, March 1989, pp .274-279. [5 ] S. Ogasawara and H.Akagi, An approach to position sensorless drive for brushless dc motor, IEEE Trans. J. Industry Application, vol .27, pp. 928-933, Sep/Oct. 1991.
International Journal of Emerging Technology and Advanced Engineering Website: www.ijetae.com (ISSN 2250-2459, Volume 2, Issue 8, August 2012) 162
[6 ] N. Ertugrul and P. Acarnley, A new algorithm for sensorless operation of permanent magnet motors, IEEE Trans. J. Industry Application, vol. 39, pp. 126133, Jan./Feb. 1994. [7 ] C. Wang , A novel approach for sensorless control of PM machines down to zero speed without signal injection or special PWM technique, IEEE Trans. J. Power Electronics, vol.. 19, No. 6, pp. 1601-1607, 2004. [8 ] R. C. Becerra, T. M. Jahns, and M. Ehsani, Four-quadrant sensorless brushless ECM drive, in Proc. IEEE APEC91 Conf., 1991, pp.202-209. [9 ] J. Moreira, Indirect sensing for rotor flux position of permanent magnet ac motors operating in a wide speed range, IEEE Trans. Ind. Application vol. 32, pp. 401407, Nov./Dec. 1996. [10 ] Tae-Hyung Kim, Mehrdad Ehsani, Sensorless Control of the BLDC Motors From Near-Zero to High Speeds. IEEE Trans., Power Electronics, vol. 19, no. 6, November 2004
[11 ] Ji Hua, Li Zhiyong, Simulation of Sensorless Permanent Magnetic Brushless DC Motor Control System, Proc. of the IEEE, International Conference on Automation and Logistics Qingdao, China September 2008 [12 ] Ming-Fa Tsai, Tran Phu Quy, Bo-Feng Wu, and Chung-Shi Tseng, Model Construction and Verification of a BLDC Motor Using MATLAB/SIMULINK and FPGA Control, Proc. of the IEEE, International Conference on Industrial Electronics and Applications, vol. 20,no. 6, pp.1797-1802. [13 ] P. Damodharan and Krishna Vasudevan, Sensorless Brushless DC Motor Drive Based on the Zero-Crossing Detection of Back Electromotive Force (EMF) From the Line Voltage Difference, IEEE trans. on energy conversion, vol. 25, no. 3, September 2010, pp.661-668.