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Compensation of Torque Ripple in BLDC Motor using


Modified Sepic Converter with NPC Inverter

Mr. Krishnamurthy .S
PG- Scholar
Department of EEE
PSV College of Engineering & Technology
Krishangiri-635108, Tamilnadu, India
Mail id : krishnamurthy7373@gmail.com
Abstract

A new power converter topology to suppress the torque ripple due to the phase current
commutation of a brushless dc motor (BLDCM) drive system. A combination of a torque
ripple in BLDC motor & single-ended primary-inductor converter (SEPIC), and a dc-bus
voltage selector circuit is employed in the proposed torque ripple suppression circuit. For
efficient suppression of torque pulsation, the dc-bus voltage selector circuit is used to apply
the regulated dcbus voltage from the modified SEPIC during the commutation interval. In
order to further mitigate the torque ripple pulsation, the BLDC motor is used in the proposed
circuit. Finally, simulation and experimental results show that the proposed topology is an

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attractive option to reduce the commutation torque ripple significantly at low- and high-
speed applications.
Key words: power, converter, brushless, BLDC, (SEPIC), commutation

CHAPTER I

1.1. INTRODUCTION

Brushless DC motor have characteristics of simple structure, large torque, no need


to change the phase based on brush, it has long use time and good speed regulation. Due to
the above mentioned advantages now electric vehicles and micro electric motor cars in the
market mostly adopt BLDCM. To drive the motor the traditional BLDC controlling system
requires hall sensor signals. When there is disturbance on the hall sensor, the fault actions
on the main circuit prompts the BLDCM action unsteady, the whole controlling system
reliability is greatly reduced, the controller cost is also increased. In recent years, for the
speed control of BLDC Motors some of these developments like Sinusoidal Pulse width
Modulation Controller have been implemented. To control BLDC motors neural network
control has also been used. It is not Satisfactory as its performance under load disturbance
and parameter uncertainty due to the non-linearity. Sliding control Techniques is
originated from Soviet literature, For Designing of robust system Performance it have
advantages like order reduction, disturbance rejection and invariance to parametric
variations. By applying the proposed technique, stability of the entire loop and the

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smoothness of the converging process of the system are better than classical PI controller.
At the same time sliding surface can be reached quickly and the system chattering can be
reduced, facilitating the design of variable-structure control.
Permanent magnet brushless dc motors are mostly used. Over other motor types
Permanent magnet motors have several advantages with trapezoidal back EMF and
sinusoidal back EMF. Compared to dc motors due to the elimination of the mechanical
commentator they are lower maintenance and also they have a high-power density which
makes it ideal for high torque to weight ratio applications. Compared to induction machines,
allowing for faster dynamic response to reference commands they have lower inertia. Also,
due to the permanent magnets they are more efficient which results in virtually zero rotor
losses. For Servo Applications Permanent magnet brushless dc (PMBLDC) motors could
become serious competitors to the induction motor.
Because of its high efficiency, high power factor, high torque, simple control and
lower maintenance the PMBLDC motor is becoming more popular in various applications.
Higher cost and relatively higher complexity introduced by the power electronic converter
used to drive them is the major disadvantage with permanent magnet motors. In the
development of a torque/speed regulator the added complexity is evident.
In various drive applications due to High efficiency, high power density and wide
range speed controllability of BLDC motors make them suitable. For fast data access and
for high speed characteristics spindle motors are used in computer hard disk.
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Brushless Direct Current (BLDC) motors are one of the motor types rapidly gaining
popularity. In industries such as Appliances, Automotive, Aerospace, Consumer, Medical,
Industrial Automation equipment and Instrumentation BLDC Motors are used. Brushes are
not used for commutation because as the name indicates it brushless motor; instead, they are
electronically com- mutated. Over induction motors and Brushed motors BLDC motors
have many advantages. A few of these are
1. Better speed versus torque characteristics

2. High dynamic response

3. High efficiency

4. Long operating life

5. Noiseless operation

6. Higher speed ranges

In application the ratio of torque delivered to the size of the motor is higher, making it
useful where space and weight are critical factors. In this application note, the construction,
working principle, characteristics and typical applications of BLDC motors are discussed.

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1.2 LITERATURE SURVEY

1.T. Sheng, X. Wang, J. Zhang, and Z. Deng, "Torque-Ripple mitigation for brushless DC
machine drive system using one-cycle average torque control," IEEE Trans. Ind. Electron.,
vol. 62, no. 4, pp. 2114-2122, Apr. 2015.

The torque-ripple mitigation method for a brushless dc machine caused by nonideal


trapezoidal back electromotive force (EMF) using a novel one-cycle average torque control
algorithm. This algorithm can ensure that the average torque follows the reference in each
switching cycle. The feedback average torque is computed using the energy flowing into the
system in each control cycle. No sophisticated observer is needed since neither the back
EMF nor accurate rotor position information is required. No current sensor is needed to
measure the phase current. Only two sensors are used to obtain the dc-bus voltage and
current information to calculate the input energy. Simulations and experimental results are
demonstrated to verify that the proposed method is able to reduce the major lower
harmonics of the machine torque ripple by more than 70%.

2.C. Xia, Y. Xiao, W. Chen, and T. Shi, “Torque ripple reduction in brushless DC drives
based on reference current optimization using integral variable structure control,” IEEE
Trans. Ind. Electron., vol. 61, no. 2, pp. 738–752, Feb. 2014.

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A current optimization control method for reducing torque ripple in brushless dc


drives using integral variable structure control (IVSC) is proposed. The conventional
current control method will result in torque ripple if the back electromotive force (EMF) is a
nonideal trapezoidal waveform. Based on back-EMF waveforms, the proposed method can
optimize the reference currents in both two-phase conduction mode and commutation mode.
A Luenberger full-order estimator is designed in order to estimate back-EMF waveforms.
During commutation, commutation control with two-phase or three-phase switching mode
is employed to reduce torque ripple by controlling the currents of noncommutated windings
to trace the optimized reference current, and a three-phase inverter is switched between the
two switching modes according to the current rate of change and the difference between the
reference current and the actual current. Current controllers using IVSC, which exhibits
broadband noise-suppressing capacity and strong robustness against external disturbances,
are designed to obtain optimal phase currents, and the experimental results validate the
effectiveness of the proposed method.

3.G. Buja, M. Bertoluzzo, and R. K. Keshri, “Torque ripple-free operation of PM BLDC


drives with petal-wave current supply,” IEEE Trans. Ind. Electron., vol. 62, no. 7, pp.
4034–4043, Jul. 2015.

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Further to the vector analysis in the stationary plane of the behavior of a


permanentmagnet brushless dc (PM BLDC) drive, this paper proposes a method of
synthesizing the current supply of the motor that ensures torque ripple-free operation of the
drive. The synthesis is carried out analytically by the vector approach, and the resulting
current vector is then expressed in motor phase coordinates. It comes out that the current
vector has a petal-shape trajectory in the stationary plane. The operation of the drive with
such a current supply is extensively examined; in particular, the torque capability for an rms
value of the phase currents equal to the rated one, the requirements for the voltages to be
applied across the motor terminals, and the base speed in correspondence to the supply
voltage saturation are determined. At last, experimental traces obtained from an in-wheel
PM BLDC drive used for the traction of light electric vehicles are included to corroborate
the theoretical findings.

4.J. Fang, X. Zhou, and G. Liu, "Precise accelerated torque control for small inductance
brushless DC motor," IEEE Trans. Power Electron., vol. 28, no. 3, pp. 1400-1412, Mar.
2013.

In this paper, precise accelerated torque control for a small inductance brushless dc
motor (BLDCM) is achieved by electromagnetic torque control and disturbance torque
suppression. First, the electromagnetic torque ripple is reduced in commutation and
conduction regions. In the former region, the ripple is suppressed by overlapping
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commutation control and optimizing the duty ratio of the active controller. In the latter
region, the unbalance ripple caused by the unbalanced three phase windings is reduced by
the proposed asymmetry compensation function, and the disturbance ripple created by the
back electromotive force (EMF) is compensated by feed forward control. Second, the
disturbance torque has been observed and compensated through the improved disturbance
torque controller whose compensation coefficient is obtained by line-to-line back EMF
coefficient estimation. And, both the disturbance observation and speed measurement are all
synchronized with the encoder pulse alteration. Experimental results are presented to
demonstrate the validity and effectiveness of the proposed accelerated torque control
scheme.

5.X. Huang, A. Goodman, C. Gerada, Y. Fang, and Q. Lu, “A single sided matrix converter
drive for a brushless dc motor in aerospace applications,” IEEE Trans. Ind. Electron., vol.
59, no. 9, pp. 3542–3552, Sep. 2012.

This paper describes a brushless dc (BLDC) drive with a single sided matrix
converter (SSMC) for an electrohydrostatic actuation system in aerospace application. The
use of an SSMC with a BLDC motor is novel and is used to achieve operation without a
microprocessor. A simple hysteresis current control strategy is implemented to control
motor torque. The multiphase SSMC provides high reliability and fault tolerance with the

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penalty of more power devices. A five-phase SSMC prototype is built. The experiment
results are presented to verify the drive performance.

1.3 OBJECTIVE

When there is disturbance on the hall sensor, the fault actions on the main circuit
prompts the BLDCM action unsteady, the whole controlling system reliability is greatly
reduced, the controller cost is also increased. In recent years, for the speed control of BLDC
Motors some of these developments like Sinusoidal Pulse width Modulation Controller have
been implemented.
1.4 ORGANISATION OF PROJECT

This thesis has been broadly divided in to 4 chapters. The chapter 1 being
introduction, chapter 2 is a system description and operation of magnetic energy storage.
Chapter 3 hardware description and implementation, chapter 4 is on conclusion of proposed
system in appendix the simulation model are presented. Finally the references for
superconducting magnetic energy.
1.5 EXISTING SYSTEM

Various hybrid converter topologies have been proposed with a dc-dc converter to
improve torque performance of 2-level inverter-fed BLDCM .In a buck converter has been
employed between the dc supply and conventional 2-level inverter for the speed control of

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BLDCM, which can significantly reduce the torque ripple at lower speeds. A super-lift Luo-
converter has been employed in front of the 2-level inverter to lift the dcbus voltage to the
desired value for the torque ripple suppression at high-speed work conditions. In a novel
circuit topology with SEPIC converter and a switch selection circuit has been proposed for
torque ripple suppression of BLDCM drive with dc-bus voltage control. To reduce the
commutation torque ripple, a voltage control strategy has been proposed to equalize the
slew rates of incoming and outgoing phase currents.
1.6 PROPOSED SYSTEM

A novel converter topology is proposed to reduce the torque ripple of the BLDCM
drive system. The proposed converter is composed a modified SEPIC converter and a
MOSFET-based 3-level DCMLI. The modified SEPIC converter operates with high static
gain and less switching voltage stress than classical DC-DC converters. Hence, the modified
SEPIC converter is used in this proposed torque ripple suppression circuit and the duty
cycle is adjusted to obtain the desired dc-bus voltage based on the spinning speed of the
BLDCM. The 3-level DCMLI is used for further reduction of the current ripple and as well
as the resultant torque ripple. The MOSFET-based voltage selector circuit is used to apply
regulated dcbus voltage for efficient commutation torque ripple suppression.

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CHAPTER II
SYSTEM DESCRIPTION 2.1 BLOCK DIAGRAM

Fig 2.1 Block Diagram

2.2 STRUCTURE OF BLDC MOTOR

Modern brushless motors and AC Motor construction is very similar, known as the
permanent magnet Synchronous Motor. Typical three-phase brushless dc motor is illustrated
in Fig 2.2. Poly phase AC Motor and Brushless DC Motor stator windings are similar, and
the rotor is composed of one or more permanent magnets. Brushless dc motors are different
from ac synchronous motors in that the former incorporates some means to detect the rotor
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position (or magnetic poles) to produce signals to control the electronic switches as shown
in Fig 2.3. The most common position/pole sensor is the Hall element, but some motors use
optical sensors.

Fig 2.2 Disassembled view of a brushless dc motor

Fig 2.3 Layout of BLDC Motor

Although the most orthodox and efficient motors are three-phase, two-phase brushless dc
motors are also very commonly used for the simple construction and drive circuits. Fig 2.4
shows the cross section of a two-phase motor having auxiliary salient poles.

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Fig 2.4 Two-phase motor having auxiliary salient poles


2.2.1 Comparison of conventional and brushless dc motors

Although it is said that brushless dc motors and conventional dc motors are similar
in their static characteristics, they actually have remarkable differences in some aspects.
When we compare both motors in terms of present-day technology, a discussion of their
differences rather than their similarities can be more helpful in understanding their proper
applications. Compares the advantages and disadvantages of these two types of motors. In a
conventional dc motor, commutation is undertaken by brushes and commutator in contrast,
in a brushless dc motor it is done by using semiconductor devices such as MOSFETs &
IGBT”S etc.
A Bipolar-Starting and Unipolar-Running Method to Drive a Hard Disk Drive
Spindle Motor at High Speed With Large Starting Torque. This report presents a method to
drive a hard disk drive (HDD) spindle motor at high speed with large starting torque by
utilizing a bipolar-starting and unipolar-running algorithm.

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2.2.2 Bipolar and unipolar drive of a BLDC motor

A Topology of a Bipolar and Unipolar Drive One of the popular windings in a three-
phase BLDC motor is Y-winding. It can be classified into unipolar or bipolar driving
method as shown in Fig 2.5. Unipolar and bipolar driving methods energize one phase and
two phases out of three phases at each commutation period, respectively. And their
commutation periods are 60 and 120 electrical degrees, respectively. The unipolar drive in
Fig 2.6 has fewer electronic parts and simpler circuits than a bipolar drive, and the
commutation frequency is half of a bipolar drive. But it has high torque ripple and dead
spots like a single-phase motor, because it cannot invert the direction of the current flowing
through the phase winding.

Fig 2.5 Conventional bipolar and unipolar drive. (a) Bipolar drive. (b) Unipolar drive.

Fig 2.6 Unipolar drive with six transistors.

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Figure 2.6 shows another topology of a unipolar drive with six transistors. It can
invert the direction of the current flowing through the phase-winding with the ON–OFF
operation of additional three transistors and additional power supply, so that it has small
torque ripple, no dead spot, and the same commutation period as a bipolar drive.
The commutation sequence of a bipolar and unipolar drive with six transistors. Both
bipolar and unipolar drives have a commutation period of 60 electrical degrees to produce a
maximum torque. the ideal torque curves that correspond to the energized phase on the rotor
position for 360 electrical degrees of each driving method. There is a phase difference of 30
electrical degrees between the commutation sequence of a bipolar and unipolar drive as
shown in Fig. 2.7.
2.2.3 torque–speed–current relationship of bipolar and unipolar drive

Torque–speed–current relationship of a BLDC motor operated in linear regions can


be explained by the following equations.

The major design variables of the BLDC motor driven by a bipolar or unipolar drive
in the case of the application of the same voltage.

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Fig 2.7 Theoretical inverter circuit for bipolar-starting and unipolar-running drive.

(i) Negative back EMF would drive current.

Driver because larger input current flows in the former case so that the starting torque of a
unipolar drive is much smaller than that of a bipolar drive in practice.
2.3 BIPOLAR-STARTING AND UNIPOLAR-RUNNING METHOD OF A BLDC
MOTOR
This project proposes a bipolar-starting and unipolar-running method to run the
motor at high speed with large starting torque, which takes advantage of the large starting
torque of a bipolar drive, and the high operating speed of a unipolar drive. Figure 2.8 shows
the theoretical inverter circuit that can be used as either a bipolar or a unipolar drive, It has
two additional switches, N and N, which are composed of transistors and diodes, and they
are connected to the neutral point of the BLDC motor.
In the case of operating as a bipolar drive, they are off so that the inverter circuit is
exactly the same as the bipolar drive. It does not have to have additional power supply as in

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the conventional unipolar drive because additional switches can change the direction of the
phase current. This negative back EMF may drive the current, which is shown as the This
current rapidly builds up, and it contributes to negative torque and loss, this phenomenon
may prevent the BLDC motor from accelerating to high speed. Figure 2.9 shows the
proposed novel inverter circuit which can be operated as a bipolar drive, unipolar drive, or
bipolar-starting and unipolar-running drive.

Fig 2.8 Novel inverter circuit for bipolar-starting and unipolar-running drive.

In the case of operating as a bipolar drive, they are on so that the inverter circuit is
exactly the same as the bipolar drive. During this period, the transistor A is on so that the
freewheeling current during the off-period of PWM can be dissipated by flowing through
the closed loop along the phase-A, transistors of N and A. shows the state of the novel
inverter circuit in Fig 2.9 when the phase-AB of the bipolar drive and the phase-A of the
unipolar drive are energized, respectively. After the motor is accelerated sufficiently by the
bipolar drive, switching from the bipolar to unipolar drive can be achieved by operating the

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additional transistor s in N and N. They switch the neutral point of the BLDC motor to
ground or to the supplied voltage depending on the firing sequence of the unipolar drive.
Then, this controller allows the motor to run to the high speed that can be obtained by a
unipolar drive. There is a phase difference of 30 electrical degrees between the
commutation sequences of the bipolar and unipolar drive as shown in Fig 2.10, so that
switching to the unipolar drive should take place in the middle of one commutation period
of the bipolar drive.
Figure 2.11 shows the developed system configuration of a BLDC motor controller.
A hall sensor detects the rotor position, and DSP controls the switching of the inverter
circuit and the speed of a motor using the PI control method. Speed, phase voltage, phase
current, and back-EMF are directly monitored on a PC through the communication circuits
and a user-interface program. It has three timers and two analogto-digital (A/D) converters.
This paper presents a bipolar-starting and unipolar-running method of a BLDC motor.

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Fig 2.9 Developed DSP-based BLDC motor controller

It proposes a novel inverter circuit to switch the BLDC motor from bipolar drive to unipolar
drive at any speed, without using additional power supply, and it verifies the to unipolar
drive at any speed, without using additional power supply, and it verifies the effectiveness
of the proposed method by the experimentation. It runs the motor to high speed with a large
starting torque, and it also protects the inverter circuit by reducing large input current during
start up. The proposed method can be effectively applied to drive a BLDC motor under
large load conditions to high speed, and it can also drive a BLDC motor in the wide range
of operating speeds.
2.4 SPEED CONTROLLER

Many applications, such as robotics and factory automation, require precise control
of speed and position. Speed Control Systems allow one to easily set and adjust the speed of
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a motor. The control system consists of a speed feedback system, a motor, an inverter, a
controller and a speed setting device. A properly designed feedback controller makes the
system insensible to disturbance and changes of the parameters.

The purpose of a motor speed controller is to take a signal representing the demanded
speed, and to drive a motor at that speed. Speed controller calculates the difference between
the reference speed and the actual speed producing an error, which is fed to the PID
controller. PID controllers are used widely for motion control systems.
Block diagram of the PID controller is shown in Fig 2.10.

Fig 2.10 PID Controller Block Diagram

The action of the proportional part of the controller can be summarized as giving an
immediate response to a difference between the reference and the feedback the action of
the proportional term will reduce, unless perturbations in the system appear. The integral
term, conversely, uses past as well as present values of the error. Because past and present

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errors are integrated, a steady-state error will result in an increasing compensating action of
the controller. This, in turn, will make the difference between the reference and the
measured value to converge towards zero. The derivative term improves the stability of the
system and reduces overshoot in the response.
CHAPTER III HARDWARE DESCRIPTION

3.1 MATLAB SIMULINK

Matlab, which stands for matrix laboratory, is a technical computing environment


for high-performance numeric computation and visualization. Simulink is a part of matlab
that can be used to simulate dynamic systems. To facilitate model definition, simulink adds
a new class of windows called block diagram windows. In these windows, models are
created and edited primarily by mouse-driven commands. Part of mastering simulink is to
become familiar with manipulating model components within these windows.
The purpose of this tutorial is to introduce you to simulink and give you experience
simulating dynamic systems. In the first part of this tutorial, you will use simulink to
generate an open-loop set-point and disturbance response for a dynamic process. In the
second part of the tutorial, you will generate the closed-loop set-point and disturbance
responses. You will have to right click on the Simulink block to make the menu on the right
viewable. Once the simulink window block on the right is open, you are ready to build a
SIMULINK model. This tutorial is divided into two sections. In the first section, you will

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build a model of the open-loop system for the second order plus time delay process and
determine the unit set-point and unit disturbance responses. In the second section, you will
build a closed-loop model of the same process. After the closedloop model is constructed,
you should simulate the unit disturbance response and the unit set-point response for two
different PID controller tuning methods, ITAE (set-point) and ITAE (load), and (SEM). The
following steps will guide you through the discussed tasks.

2e s
G s( )
(10s 1)(5s 1)

3.1.1 Construction of an Open-Loop Block Diagram

Open a new empty system window by selecting New followed by Model from the

File menu in the simulink window. The new window will be titled untitled. You will build
your closed loop model inside this window. Save the empty model by choosing Save from
the File menu in the untitled window. Name the model, examplesim. From this point on, the
model will be referred to as examplesim.

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Fig 3.1 Construction of Time Vector

Look at the list below “simulink” in the Simulink Library Browser window. Click
on “Sources” and select the clock from the new list and drag the clock block from the
Simulink Library Browser (Fig 3.1) to the examplesim window. Click on the “Sinks” block
in the simulink window and drag the To Workspace block to examplesim. Connect the
output of the clock block to the input of the To Workspace block. Double-click on the To
Workspace block to open its dialog box. Change Variable name from simout to t. Set the
save format shown at the bottom of the dialog box as “Array”. If you have followed the
above steps correctly, the model will look like this:

The simple model above will output a time vector t to the workspace which can be used
with the plot command. As you have seen, double-clicking on a block will open a window filled
with more blocks or open the dialog box of the block. The dialog box is used to specify
parameters that govern the operation of the block. Copy the Transfer Fcn and
Transport Delay blocks from the “Continuous” block, respectively, to Examples. Connect the
output of the Transfer Fcn block to the input of the Transport Delay block. Click on the
“Transfer Fcn” label and rename the Transfer Fcn block "Process TF". This block represents the
process.
Note that in this problem, the process is G(s) = GvGpGm, not Gp. Open the dialog box of
Process TF by double-clicking on it. Specify Numerator as and Denominator. This indicates the

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transfer function 2/(50s2 + 15s + 1). The Transfer Fcn block requires specification of vectors for
the numerator and denominator. The vector elements are treated as the coefficients of
descending powers of s in the polynomials representing the numerator and denominator of the
transfer function. To see the denominator polynomial of s completely displayed in the block's
icon, you may have to resize the block’s icon. Double-click on the Transport Delay and set Time
delay to 1. Note that the Transport Delay block can be used to represent other types, such as
measurement delay.
Copy the Process TF and Transport Delay blocks and place the copies slightly above
the originals. The copies will automatically change names to “Process TF1” and “Transfer
Delay1”. No two blocks can have the same name in on SIMULINK window. To quickly
copy the original blocks, select both of them and drag them using the right mouse button.
Rename the Process TF1 block “Disturbance TF”. In this example Gp and GL are the same,
so the Numerator and Denominator parameters in the dialog box of Disturbance TF are not
changed.
Place a copy of the Sum block, located in the “Math” menu, to the right of the

Transport Delay block. Double click above the sum block and label the block “Sum”.
Connect the output from each Transport Delay block to the input of the Sum block. The
number of inputs and their polarity can be modified from the dialog box. Later in the
tutorial you will be required to do this.

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Copy the To Workspace block to the right of the Sum block and connect the output of the
Sum block to the new To Workspace block. Double-click on the new block and set Variable
name to Y. The model developed to this point is a model of the open-loop system.
Copy a Step Input block from the “Sources” menu, place the block to the left of
Disturbance TF and connect it to the input of Disturbance TF. The Step Input block
generates a step function. The step time (time at which the step occurs), initial value, and
final value of the function can be specified. For now, open its dialog box and set the step
time, initial value, and final value to zero, i.e., disabling the block. Rename the block “D”.

Place a copy of D to the far left of Process TF and rename the new block “U”.
Connect U to the input of Process TF. Double-click on U and set Step time to 0, Initial
value to 0 and final value 1. U will generate a unit step function in the manipulated variable
at time zero. The model developed to this point is a model of the open-loop system. It
should look similar to the model below.
Now we are ready to simulate the open-loop response of the system. To select the
integration technique and parameters to be used during simulations, pull down the
Simulation menu and choose Parameters. A dialog box is opened showing all the simulation
parameters that can be modified. Set the Stop Time to 50 and the Max Step Size to 1.
Because the system is easy to numerically integrate, SIMULINK can and will take
integration step sizes equal to the default value of 10. If this occurs, the appearance of the

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response will not be smooth. By setting Max Step Size to 1, Y will be output to the
workspace each time interval and the simulated response will be smoother. Start the
simulation by selecting Start from Simulation menu. The resulting Y and t variables in the
workspace will be for the open-loop unit set-point response.
If you are not continuing to the next section, save the file examples so that you can use it in
constructing a closed-loop block diagram.
3.1.2 Construction of Closed-Loop Block Diagram

 Open the file examplesim if it is not already open.

 Click on the connection between the U block and Process TF block and delete it.

Rename the U block to “Ysp”. This block will be used to produce a step change in the
set-point.
 Place a copy of the Sum block to the right of Ysp. Double click above the sum block
icon and label the block “Sum1”. Open its dialog box and change the ++ sequence to
+-. Instantly, the block’s icon will reflect this change. The top input will have a +
located to the right of it while the bottom input will have a – located above it. Therefore,
the output of Sum1 will be the top input minus the bottom input. Connect the output of
Ysp to the top input of Sum1. Also, connect the output from Sum to the bottom input of
Sum1. This can be done by clicking on the bottom input of Sum1 and dragging the

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arrow to the output of Sum. The output of Sum1 is the error between the set-point, Ysp,
and the controlled variable, Y. Your model should look like Fig 7.
 Now close the “Simulink” block menu and open the “Simulink Extras” block by right
clicking on the block labeled “Simulink Extras”. Click on the “Additional Linear”
block, then select the “PID Controller” and drag it to the right of the newest sum block.
Connect the output of the Sum1 to the input of PID controller and the output of PID
controller to the input of Process TF.
Double-click on the PID controller and enter the ITAE (load) controller settings given in
Seborg et al. Please note that SIMULINK PID controller settings are P, I, and D where P =
Kc, I = Kc/τi, and D = Kc*τD, so numerical values of P, I, and D should reflect these
definitions. The model you have developed represents the closed-loop system. Your model
should now look similar to Note that some text has been added to the block diagram shown
on the previous page. Simply by double-clicking on a point in examplesim and typing, text
is added to the diagram at the point where you clicked. The E, P, X1, X2 text in the block
diagram have no effect on its operation. Now we are ready to simulate the closed-loop
response of the system. We will start with the set-point response. Click on block D and set
the Final value to 0 so that no step in the disturbance will occur. Create a step in the set-
point by clicking on Ysp and setting the Final Value to 1. Start the simulation by selecting
Start from Simulation menu. The resulting Y and t variables in the workspace will be for the
unit set-point response, because D (disturbance) has been disabled.
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CHAPTER IV CONCLUSION & FUTURE SCOPE

4.1 CONCLUSION

A topology based on Modified SEPIC converter is analyzed for reducing


commutation torque ripple in BLDCM drives. The reduction in voltage and current stress of
the main switches are the main advantage of this topology. Simulation is done for wide
range of speeds and from the results it is apparent that the torque ripple is effectively
reduced. Hardware implementation of BLDCM drive with conventional control is done
using FPGA. The close correlation between simulation and hardware results illustrate the
relevance of the topology for torque ripple minimization.
4.2 FUTURE SCOPE

(i) For further reduction of the harmonic content selective harmonic or space vector
modulation technique can be used.
(ii) A SRM motor can be used which can be also used in regenerative mode of
operation, to which a battery energy storage system can be placed.
REFERENCES

[1]. A. Brameller, R. S. Pandey, “General Fault Analysis Using Phase Frame Reference,”
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1953. [3]. B. Imhof, “Power System Modeling and Analysis Based on Graph Theory,”
doctoral dissertation, Eidgenossische Technische Hochscule, Zurich, Swiss, 1985.
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[11]. J. A. Peralta, F. De. Leon, and J. Maseredjian, “Unbalanced Multiple-phase Load-

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