MODELING OF PERMANENT MAGNENT BRUSHLESS DC MOTOR

Aim
To study the modeling of Permanent Magnet Brushless DC Motor and implementation of speed controller.

Theory
The Fig.1 describes the basic building blocks of the PMBLDC motor drive. The drive consists of speed controller (PI), reference current generator, pulse with modulation (PWM) current controller, position sensor (Hall Effect sensors), motor and IGBT based voltage source inverter (CC-VSI). The speed of the motor is compare with its reference value and the speed error is processed in PI speed controller. The output of this controller is considered as the reference torque. A limit is put on the speed controller output depending on permissible maximum winding currents. The reference current generator block generates the three phase reference currents (ia*, ib*, Ic*) using the limited peak current magnitude decided by the controller and the position sensor. The reference currents have the shape of quasi-square wave in phase with respective back emfs to develop constant unidirectional torque as shown in fig.2. The PWM current controller regulates the winding currents (ia, ib, ic) within the small band around the reference currents (ia*, ib*, ic*). The motor currents are compared with the reference currents and the switching commands are generated to drive the power switches.

PI-Speed Controller
The PI controller is widely use in industry due to its easy to design and simple structure. The rotor speed r(n) is compred with the reference speed r(n)* and the resulting errors is estimated at the nth sampling instant as e (n) = r(n)* r(n) The new value of torque reference is given by T(n) = T(n 1) + KP e (n) e(n 1) + KI e(n) (2) (1)

Fig.2 Back EMF pattern and reference current generation

Fig.3 Hall Effect sensor embedded into the stator

Where, e (n-1) is the speed error of the previous interval,

e (n) is the speed error of the working interval, Kp, KI gains of proportional and integral controllers respectively

By using Ziegler Nichols method the KP and KI values are determined.

Reference Current Generator

Unlike a brushed DC motor, the commutation of a BLDC motor is controlled electrically. To rotate the BLDC motor, the stator windings should be energized in a sequence. Most of BLDC motors have three Hall Sensors (H1, H2, H3 ) of phases embedded into the stator on the non-driving end of the motor. Shown in fig.3. Rotor position is sensed by Hall effect sensors embedded into the stator which gives the sequence of phases. Whenever the rotor magnetic poles pass near the Hall sensors, they give the high/low signals, indicating the N or S pole is passing near the sensors. Based on the combination of these three Hall sensors signals, the exact sequence of the commutation can be determined. The magnitude of the reference current (I*) is determined by using reference torque (T*) and the back emf constant (Kb), I*= T*/ Kb. (2.1)

Depending on the rotor position, the reference current generator block generates threephase reference currents (ia*, ib*, ic*) considering the value of reference current magnitude as I*, -I* and zero. The reference current generation is shown in fig.2 Rotor position signal r 0-60 60-120 120-180 180-240 240-300 300-360 I* I* 0 -I* -I* 0 Reference Currents (ia*, ib*, ic*) -I* 0 I* I* 0 -I* 0 -I* -I* 0 I* I*

Table 1. Rotor Positon signal Vs Reference Current

Fig.3 Components of back EMF

Fig.4 Inverter circuit with PMBLDC motor drive

PWM Current Controller

The PWM current controller contributes to the generation of the switching signals for the inverter switches. The switching logic is formulated as given below, If ia < (ia*) switch-1 is ON and switch-4 is OFF If ia < (ia*) switch-1 is OFF and switch-4 is ON If ib < (ib*) switch-3 is ON and switch-6 is OFF If ib < (ib*) switch-3 is OFF and switch-6 is ON If ic < (ic*) switch-5 is ON and switch-2 is OFF If ic < (ic*) switch-5 is OFF and switch-2 is ON

Modeling Back EMF

The phase back emf in the PMBLDC motor is trapezoidal in nature and also a function of the speed (r) and rotor position angle (r) as shown in fig.2 The normalized function of back EMFs is shown in fig.3. From this, the phase back emf ean can be expressed as

f a(r)= E f a(r)= (6E/)( rr)-E f a(r)= E f a(r)= (6E/)(rr 2 )+E where, E=Kbr

< r < 120 120 < r < 180 180 < r < 300 300 < r < 360 (3)

(3.1)

ean can be described by E normalized back emf function f a(r) shown in fig.3 ean= E f a(r)] (3.2)

The back emf functions of other two phases (ebn and ecn) can also be determined in simi9lar way using E and the normalized back emf function f b(r) and f c(r).

PMBLDC Motor and Inverter

The PMBLDC motor is modeled in the 3-phase abc frame. The general volt-ampere equation for the circuit show in fig.4 can be expressed as; Van= R ia + p a + ean Vbn= R ib + p b + ebn Vcn= R ic + p c + ecn Where Van, Vbn and Vcn are phase voltages and may be defined as; Van = Va0 Vn0 Vbn = Vb0 Vn0 Vcn = Vc0 Vn0 Where Va0, Vb0, Vc0 and Vn0 are three phase and neutral voltages with respect to the zero reference potential at the mid-point of the dc link shown in fig.4. R is the resistance per phase of the stator winding, p is the time differential operator, and ean, ebn and ecn are phase to neutral back emfs. The a, b and c are total flux linkages of phase windings a, b and c respectively. Their values can be expressed as; a = Ls ia M ( ib + ic ) b = Ls ib M ( ia + ic ) c = Ls ic M ( ib + ib ) where Ls M self inductance Mutual inductance (8) (9) (10) (7) (4) (5) (6)

The PMBLDC motor has no neutral connection and hence this results in, ia + ib + ic = 0 Substituting (11) in (8), (9) and (10) the flux linkages are obtained. a = ia ( Ls + M ), b = i\b ( Ls + M ) and c = i\c ( Ls + M ) By substituting (12) in volt-ampere relations (4)-(6) and rearranging these equations in a current derivative of state space form, gives, (12) (11)

p ia = 1/( Ls + M ) (Van R ia ean) p ib = 1/( Ls + M ) (Vbn R ib ebn) p ib = 1/( Ls + M ) (Vbn R ib ebn) The developed electromagnetic torque may be expressed as Te = (ean ia + ebn ib
+

(13) (14) (15)

ecn ic)/ r

(16)

Where, r is the rotor speed in electrical rad/sec. Substituting the back emfs in normalized form, the developed torque is a Te = K { f a(r) ia + f b(r) ib + f c(r) ic} The mechanical equation of motion in speed derivative form can be expressed as; p r = (P/2)(Te TI B r)/ J Where, P TI B J is no. og poles is the load torque in N-m is the Frictional co-efficient in N-m/rad, and is the moment of inertia in Kg-m2 (18) (17)

The derivative of the rotor position (r) in state space form is expressed as; p r = r (19)

The potential of the neutral point with respect to the zero potential (Vn0) is required to be considered in order to avoid imbalance in the applied voltage in simulating the performance of the drive. This can be obtained by substituting (7) in the volt-ampere equations (4) to (6) and adding them together to give; Va0 + Vb0 + Vc0 3Vn0 = R (ia+ ib+ ic) + ( Ls + M ) / (p ia+ p ib+ p ic) + (ean + ebn + ecn) Substituting equation (11) in (20) results in Va0 + Vb0 + Vc0 3Vn0 = (ean + ebn + ecn), Thus, Vn0 = {Va0 + Vb0 + Vc0 (ean + ebn + ecn)}/3 (20)

(21)

SIMULINK DETAILS 1. Modeling of back emf

Fig.5 From this we get phase voltages Van, Vbn, Vcn and generate back emf/phase Shown in subsystem-1 details

The set of differential equations mentioned in equations (13), (14), (15), (18) and (19) defines the developed model in terms of the variables ia, ib, ic, r, r and time as an
independent variables.

Sub System 1

Sub System 1.1

these embedded blocks are used to generate the shape of the back emf magnitude ean,
ebn and ecn. The embedded blocks are coded through the equation (3).

Sub System 2

From this sub system the back emf per phase is generated.

2. Modeling of the Stator Current

Fig.6 Stator current generation

The Stator current equations Ia, Ib and Ic are modeled through the equ (13), (14) and (15). Refer these equations.

3. T() conversion

Sub System 3

4. Reference current generation

Sub System 4

The reference currents a modeled through the table 1.

The quantizer used to descritize the input at given interval.

The saturation blocks are used to does not exceed the reference current with in the
particular value in both +ve and ve magnitude.

5. Modeling of Reference Phase current

6. Modeling the Speed (r) and Electrical Torque (Te)

The Electrical torque is getting from the equation (17) The motor actucal speed is getting from the equation (18)

7. Modeling for stator phase voltages (Va0, Vb0 and Vc0)

Here the relay is used for protection against reverse current. When the error current goes ve it open state. When the error current only +ve the relay closed condition This system is called Hysterics PWM current controller. Refer advanced Hysterisis control of brushless DC motors by Joachim Bocker, University of Paderborn, Germany.

8. Outputs

Simulation results
In this work the drive model with PI speed controller is developed and simulated. The set of equations representing the model of the drive system is schematized. For conducting the studies and analysis, this paper considers a typical industrial BLDC motor:

Parameter Power Number of poles Type of connection Rated speed Rated current Resistance / phase Back emf constant Inductance (Ls+M) Moment of inertia

Rating 2.0 HP 4 Star 1500 rpm 4A 2.8 1.23 sec/rad 0.00521 H/phase 0.013 Kg-m2/0.098 kg-m2

When Moment of inertia J= 0.013 Kg-m2

Fig.6 Trapezoidal back EMF of BLDC motor

Fig.7 Reference current waveforms

Fig.8 Representative phase voltages From this waveform infer the rectangular current waveform for BLDC motor is achieved. In fig,.9 showns the torque and speed waveforms for moment of inertia 0.013Kg-m2 it reaches the steady stae torque and speed suddenly at the 0.03 seconds. When the moment of inertia is increased to 0.098 kg-m2 it takes 0.28 seconds to reach the steady state which is shown in fig.11. From this figures infer that increasing the moment of inertia then it takes large time to reach steady state

Fig.9 Torque and speed responses during startup transients

Fig.10 Torque and speed responses for step input change-moment of inertia 0.013 kg-m2 for step time

When moment of inertia is 0.098kg-m2

Fig.10 Torque and speed responses for moment of inertia 0.098 kg-m2

Fig.12 respresents the torque and speed waveforms for step input at moment of inertia 0.098kg-m2 for step time 0.5 sec

Conclusion
The non linear simulation model of the BLDC motors drive system with PI control based on MATLAB/Simulink platform is presented. The performances of the developed PI algorithm based speed controlled of the drive has revealed that the algorithm devices the behavior of the PMBLDC motor drive system work satisfactorily. And also by varying the moment if inertia it increases simulation time to reach the steady state value. The simulated result have validated the models and algorithms developed in this work.

References
1. T.J.E. Miller, Brushless Permanent Magnet and Reluctance Motor Drives. Oxford Science Pulication. UK, 1989. 2. R. Krishnan, Electric Motor Drives; Modeling, Analysis, and Control, Prentice-Hall, Upper Saddle River, NJ, 2001.

3. P. Pillary and R. Krishnan, Modeling, Simulation, and analysis of permanent Magnet motor drives. PartII: The Brushless dc motor drive, IEEE Transactions on Industry Applications, vol.IA-25, no.2, pp.273-279, Mar/Apr.1989. 4. R. Krishnan and A.J. Beutler, performance and design of an axial field permanent magnet synchronous motor servo drive, proceedings of IEEE IAS Annual Meeting. Pp.634-640,1985. 5. In-Soung Jung, Ha-Gyeong Sung, Yon-Do Chun, and Jin-Hwan Borm,

Magnetization Modeling of a Bonded Magnet for Performance Calculation of Inner Rotor Type BLDC motor, IEEE Transactions on Magnetics, vol.37, no.4, pp.28102813, Julu 2001. 6. M. Lajoie-Mazenc, C. Villanueva, and J. Hector, Study and implementation of a hysteresis controller inverter on a permanent magnet synchronous machine, IEEE Transactions on Industry Application, vol.[A-2], no.2, pp.408-413, March/April 1985. 7. T. Sevastuab abd G.R. Siemon, Transient modeling and Performance of Variable Speed Permanent Magnet Motors. IEEE Transactions on IA, vol-25, no.1, pp.101, January/February 1989. 8. A. Rubai and R.C. Yaiamachi, Dynamic Study of an Electronically Brushless Dc machine via Computer Simulations. IEEE transactions on EC, vol-7, no.1, pp.132, March 1992. 9. P.C.K. Luk and C.K. Lee, Efficient Modeling for a Brushless DC Motos Drive, Conference Record Of IEEE-IECON, pp.188, 1994.