Beruflich Dokumente
Kultur Dokumente
Brushless dc (BLDC) motor is preferred as small horsepower control motors due to their high
efficiency, silent operation, compact form, reliability, and low maintenance. The problems are
encountered in these motor for variable speed operation over last decades continuing technology
development in power semiconductors, microprocessors, adjustable speed drivers control schemes
and permanent-magnet brushless electric motor production have been combined to enable reliable,
cost-effective solution for a broad range of adjustable speed applications. The major appliances
include clothes washers room air conditioners, refrigerators, vacuum cleaners, freezers, etc.
Household appliance have traditionally relied on historical classic electric motor technologies such
as single phase AC induction, including split phase, capacitor-start, capacitorrun types, and
universal motor.
3.1 Principle of Brushless Linear DC (BLDC) Motor
Brushless DC electric motor (BLDC motors, BL motors) also known as electronically commutated
motors (ECMs, EC motors) are synchronous motor. Permanent magnet DC motors use mechanical
commutators and brushes to achieve the commutation. However, BLDC motors adopt Hall Effect
sensors in place of mechanical commutators and brushes. The stators of BLDC motors are the
coils, and the rotors are the permanent magnets. The stators develop the magnetic fields to make
the rotor rotating. Hall Effect sensors detect the rotor position as the commutating signals.
Therefore, BLDC motors use permanent magnets instead of coils in the armature and so do not
need brushes. In this paper, a three-phase and two-pole BLDC motor is studied. The speed of the
BLDC motor is controlled by means of a three-phase and half-bridge pulse-width modulation
(PWM) inverter. The dynamic characteristics of BLDC motors are similar to permanent magnet
DC motors.
3.2 Mathematical Modeling of BLDC Motor
Permanent magnet DC motors use mechanical commutators and brushes to achieve the
commutation. However, BLDC motors adopt Hall Effect sensors in place of mechanical
commutators and brushes [17]. The stators of BLDC motors are the coils, and the rotors are the
permanent magnets. The stators develop the magnetic fields to make the rotor rotating.
Hall Effect sensors detect the rotor position as the commutating signals. Therefore, BLDC motors
use permanent magnets instead of coils in the armature and so do not need brushes. In this paper,
a three-phase and two-pole BLDC motor is studied. The speed of the BLDC motor is controlled
by means of a three-phase and half-bridge pulse-width modulation (PWM) inverter. The dynamic
characteristics of BLDC motors are similar to permanent magnet DC motors. The characteristic
equations of BLDC motors can be represented as
di
Ri (t ) v em f (t )
dt
K b . (t )
v app (t ) L
v em f
T (t ) K i .i (t )
T (t ) J
d (t )
D. (t )
dt
where (t) is the applied voltage, (t) is the motor speed, L is the inductance of the stator, i(t)
is the current of the circuit, R is the resistance of the stator, (t) is the back electromotive
force, T is the torque of motor, D is the viscous coefficient, J is the moment of inertia, Kt is the
motor torque constant, and Kb is the back electromotive force constant.
Fig. 3.2(a) shows the block diagram of the BLDC motor. From the characteristic equations of the
BLDC motor, the transfer function of speed model is obtained. The parameters of the motor used
for simulation are as Follows
The Transfer Function of Linear BLDC Motor:
( s)
vapp ( s)
( s)
vapp ( s)
vapp
-
1
LS R
Kt
LJ .s 2 ( RJ LD) s K t .K s
275577.36
s 2 417.7 s 39490.17
Kt
Kb
1
JS D
C (s)
G(s)
R( s) 1 G ( s) H ( s)
Fig.3.2 (c) The Simulation Model of BLDC Motor without PID Controller
21.2
0.1433 Vs 1
1*10-4Kg-m s/ rad
0.052 H
Kt
0.1433 Kg-m/A
1*10-5Kgm 2 /rad
Rise Time
0.0026
Settling Time
0.019
Overshoot
28.3691
0.5334
Performance shows how a simple PSO variant performs in aggregate on several benchmark
problems when varying two PSO parameters. The choices of PSO parameters can have a large
impact on optimization performance. Selecting PSO parameters that yield good performance has
therefore been the subject of much research.
Basically, it can be imagined that the function which is to be minimized forms a hyper-surface of
dimensionality same as that of the parameters to be optimized (search variables). It is then obvious
that the 'ruggedness' of this hyper-surface depends on the particular problem. Now, how good the
search is depends on how extensive it is, which is decided by the parameters. Whereas a 'lesser
rugged' solution hyper-surface would need fewer particles and lesser iterations, a 'more rugged'
one would require a more thorough search- using more individuals and iterations. This is analogous
to another realistic situation of flocks searching for a good 'food' traversing a very difficult terrain
containing gardens all over, some better than others where a huge flock would be required in order
to reach the best (read global optimum) 'food' source, compared to another terrain where there are
very few gardens on an otherwise non-vegetated land, where it becomes easy to search for 'food'
and lesser number of individuals and iterations will suffice. The PSO parameters can also be tuned
by using another overlaying optimizer, a concept known as meta-optimization. Parameters have
also been tuned for various optimization scenarios. The particles in the swarm are the individual
elements in the swarm responsible for moving to there personal best values (pbest) and the swarms
best values (gbest) all the while continually searching their current position to monitor for better
values than what the individual has. The individuals position is the location given a specific
boundary for which to search in. Evaluation of the position is performed through a fitness function
that returns the optimal solution.
I) Number of particles The number of particles was assigned to 100 with the intent that this would
allow for a large number of individual elements to better explore and converge on the optimal PID
gains. Research by Robinson and Carliel suggest that the higher number of particles gives an
improved exploration for optimal values when compared to the number of particles at 20 or 30.
The compromise between the higher number is that the higher values takes longer to compute than
at 20 or 30 particles.
II) PID search space In order to find the optimal values for the proportional, integral, and derivate
elements, three ranges were established based upon the output from the WSDK ACF tuning. It
Provide an effective window to perform a search that would be similar to the PID values found
using the WSDK ACF tuning method. The search space also establishes the boundaries to which
the fitness function is to be evaluated.
III) Fitness function The pbest and gbest are initial assigned random values in the search space.
For each iteration, The pbest and gbest values are compared to the current location. If the current
location has better optimized values than the current pbest/gbest values, the fitness function returns
a numerical value that is used to evaluate a new velocity and the new values replace the old
pbest/gbest values.
IV) Number of trials The number of trials was set to 50 iterations for each particle. This number
was established to give each particle an opportunity to successfully find optimal PID values over
multiple trials. put more emphasis on the activities of pbest and gbest.
VI) C1 & C2 values The social factors of C1 and C2 determine the amount of emphases the particles
velocity is affected by pbest/gbest. C1 is set to 1 and C2 is set to 2 thus putting more emphases on
gbest.
VII) Velocity In order for the velocity (Vn) to be calculated, the fitness functions of pbest and gbest
needed to be evaluated. The rand() element in the equation provides the function a sense of natural
behavior found in nature.
= + 1 ()( ) + 2 ()( )
(1)
VIII) Movement The movement of the particle is accomplished by adding the new velocity to the
current location.
Xn = Xn + t *Vnnew
these will then come to guide the movements of the swarm. The process is repeated and by doing
so it is hoped, but not guaranteed, that a satisfactory solution will eventually be discovered.
Formally, let f: n is the cost function which must be minimized. The function takes a
candidate solution as argument in the form of a vector of real numbers and produces a real number
as output which indicates the objective function value of the given candidate solution. The gradient
of f is not known. The goal is to find a solution a for which f(a) f(b) for all b in the search-space,
which would mean a is the global minimum. Maximization can be performed by considering the
function h = -f instead.
Let S be the number of particles in the swarm, each having a position xi n in the search-space
and a velocity vi n. Let pi be the best known position of particle i and let g be the best known
position of the entire swarm. A basic PSO algorithm is then:
=(1 ,2 ,3 .. )
in the d-dimensional space, the best previous positions of the particle is represented as:
= ( ,1, ,2, ,3 , )
The index of the best particle among the group is . Velocity of the particle is represented
as:
= (,1,,2 ,3 ., )
The updated velocity and the distance from , to , is given as [13]:
(2)
(3)
i= 1, 2........, n
m= 1, 2,..........,d
n
Dimension
1,2
Acceleration constant
rand()
()
(4)
(5)
Where K is [P, I, D] and is weightening factor. The performance criterion W(K) can satisfy the
designer requirement using the weightening factor value. can set to be larger than 0.5 to reduce
the overshoot and steady state error, also can set smaller 0.5 to reduce the rise time and settling
time. The optimum selection of depends on the designers requirement and the characteristics of
the plant under control. In BLDC motor speed control system the lower would lead to more
optimum responses. In this paper, due to trial, is set to be 0.5 to optimum the step response of
speed control system.
The fitness function is reciprocal of the performance criterion, in the other words,
f
1
W (K )
A PSO-PID controller is used to find the optimal values of BLDC speed control system.
Start
Initial Population
No
Yes
(2) There are few parameters in PSO which requires the adjustment.
(3) PSO is based on the artificial intelligence. It can be applied into both scientific research
uses.
(4) PSO has no more mathematical calculations. The search can be carried out by the
Speed of the particle.
(5) Faster convergence.
(6) Less parameter to tune.
(7) Easier searching in very large problem spaces.
In control Application areas include automatic generation control tuning, design of controllers,
traffic flow control, adaptive inverse control, predictive control, PI and PID controllers [21], strip
flatness control, ultrasonic motor control, power plants and systems
control [26, 27], control of chaotic systems, process control, adaptive PMD compensation in WDM
networks, fractional order controllers, combustion control, inertia system control,
automatic landing control.