SPEED CONTROL OF BRUSHLESS DC MOTOR
A PROJECT REPORT
submitted in partial fulfillment of the requirements requirements for the award of of the degree of
BACHELOR OF TECHNOLOGY
in ELECTRICAL AND ELECTRONICS ENGINEERING
by MUKUND JOSHI13BEE1080 JOSHI13BEE1080
under the guidance of Prof. Sri!"#$ Go%%!&'(i
SCHOOL OF ELECTRICAL ENGINEERING )IT UNI)ERSITY
APRIL 2017
CERTIFICATE
This is to certify that the project work titled * SPEED CONTROL CONTROL OF BRUSHLESS BRUSHLESS DC MOTOR” MOTOR”
subm submit itte ted d by MUKUND MUKUND
JOSHI
is in part partial ial fulfi fulfill llme ment nt of the the
requirements requirements for the award of the degree of BACHELOR OF TECHNOLOGY, is a record of bonafide work done under my guidance. The contents of this project work, in full or in parts, have neither been taken from any other source nor have been submitted to any other Institute or University for award of any degree or diploma and the same is certified.
Signature !nly for "#ternal $rojects% $rof. Srikanth &ollapudi E+#,r"!% Pro-,# S'&,r/ior
Pro-,# S'&,r/ior
N!2, of #$, Or!"i4!#io"5 Or!"i4!#io" #!2&5
T$, #$,i i !#if!#or6 !#if!#or6 7 '"!#if!#or6 '"!#if!#or6
I"#,r"!% E+!2i",r
E+#,r"!% E+!2i",r
'pproved by
Pror!2 C$!ir B.T,$ E%,#ri!% !"( E%,#ro"i E"i",,ri"
(
ACKNOLEDGEMENT
This acknowledgement of gratitude by no means assuages that spirit of help granted to us, but it gives us an opportunity to thank all those who have lent us a helping hand. This project has been a product of motivation and encouragement from various sources we would like to place on record our deep gratitude towards )IT University for giving us an opportunity to undertake this project and always being a source of inspiration. 'gain we would like to thank $rof. Srikanth &ollapudi 'sst. $rofessor%, $rof. 'ngeline "*hilarasi 'sst. $rofessor%, $rof. +ayapragash 'sst. $rofessor% and all those who helped us to complete this project and for their cooperation during this period. ast but not the least we would like to thank -r. Senthil umar $rogram /hair S""/T )IT /hennai% who guided us through this project and all the other staff members of )IT /hennai who helped us a lot and gave us inspiration to pursue this project. 0e acknowledge our indebtedness to all those who helped us and guided us in our time of need.
MUKUND JOSHI 13BEE1080
1
ABSTRACT
The The 2rus 2rushl hles esss 3/ moto motors rs are are wide widely ly used used in many many indu indust stri rial al and and trac tracti tion on applications because of their high efficiency, high torque, low maintenance, less noise and low volume. The 23/ motor can act as an alternative for traditional motors like 2rushed 3/ motor, induction motor, switched reluctance motors et c. The performance of 23/ motor is analysed using -atlab with motor on no load. The variou variouss perfor performan mance ce parame parameters ters are analys analysed ed by -atlab -atlab softwa software. re. The torque torque characteristics of 23/ motor is very important factor in designing 23/ motor drive system. 'fter development of simple mathematical model of three phase 23/ motor with trape*oidal waveforms of back emf, the motor is modelled by using -'T' -'T'24S 24SI-U I-UI5 I5. . The speed, speed, phase phase curren current, t, back back emf wavefo waveforms rms are also obtained using this model. In the presented model speed is regulated by $I controller. In this this pape paperr the the simu simula lati tion on is carr carrie ied d out out for for 6(77 6(77 mode mode of oper operat atio ion n and and Trape*oidal back emf waveforms are considered. The results obtained using -atlab softw software are are high highly ly accep accepta tabl blee and and this this give givess very very impo import rtan antt info inform rmati ation on for for designing 23/ motor drive system.
KEYORDS8 2rushless 3/ motor, "lectro motive force, 6(77 mode of operation,
$I controller. controller.
9
TABLE OF CONTENTS
IST !: T'2"S..................................... '2"S............................................................ .............................................. .........................................viii ..................viii IST !: :I&U;"S....................................... :I&U;"S.............................................................. ..............................................................i# .......................................i# '22;")I'TI!5S '22;")I'TI!5S '53 5!-"5/'TU;"................... 5!-"5/'TU;".................................................... ................................. .......# ....... # /<'$T"; I............................................ I................................................................... .............................................. ...............................................6 ........................6 I5T;!3U/TI!5............................. I5T;!3U/TI!5.................................................... .............................................. .................................................... ............................. 6 6.6 I5T;!3U/TI!5....... I5T;!3U/TI!5.............................. .............................................. ................................................................6 .........................................6 6.6.6 -otivation.................................... -otivation........................................................... .............................................. .........................................6 ..................6 6.6.( !bjectives.................... !bjectives........................................... .............................................. ........................................................ ................................. .6 6.6.1 Scope of the 0ork................................. 0ork........................................................ .............................................. ...............................( ........( 6.( !;&'5I='TI!5 !;&'5I='TI!5 !: T<"SIS...................................... T<"SIS............................................................. ....................................( .............( /<'$T"; II............................................. II.................................................................... .............................................................. ....................................... .....9 $;!+"/T 3"S/;I$TI!5........... 3"S/;I$TI!5.................................. .............................................. .............................................. ..................................9 ...........9 (.6 !)";)I"0 !: $;!+"/T.................................................. $;!+"/T.................................................................. ............................. ............. 9 (.( -!3U"S !: T<" $;!+"/T.................... $;!+"/T........................................... .......................................... ............................ .........> > (.(.6 23/ -otor....................................... -otor.............................................................. .............................................. ..................................? ...........? (.(.( Inverter............................................ Inverter................................................................... .............................................. ......................................@ ...............@ (.(.1 3river /ircuit............................................. /ircuit.................................................................... ................................................66 .........................66 (.(.9 /ontroller....................................... /ontroller.............................................................. .............................................. ..................................... ..............6( 6( (.1 T'SS '53 -I"ST!5"S........................... -I"ST!5"S.................................................. ................................................6( .........................6( /<'$T"; III............................................... III...................................................................... ..............................................................69 .......................................69 3"SI&5 !: S$""3 /!5T;! !: 23/ -!T!;.......................................... -!T!;.......................................... ...69 1.6 3"SI&5 '$$;!'/<................................ '$$;!'/<....................................................... .............................................. ...............................69 ........69 1.6.6/odes and Standards....................................... Standards.............................................................. ............................................69 .....................69 1.6.(;ealistic /onstraints......................................... /onstraints...................................................................................69 ..........................................69 1.6.1'lternatives and Tradeoffs......................... Tradeoffs................................................ .................................................69 ..........................69 1.( 3"SI&5 S$"/I:I/'TI!5S............... S$"/I:I/'TI!5S...................................... ........................................................ ................................. ....6> 1.1 3";I)'TI!5 !: /!--UT'TI!5 T'2" :!; 23/ -!T!;.............6> 1.9 3";I)'TI!5 !: ST'T" S$'/" -!3"....................................................6A 1.> T"STI5& !: !T<"; /!-$!5"5TS......................................................... /!-$!5"5TS......................................................... 6@ 1.>.6 Testing of -!S:"T.................................... -!S:"T........................................................... ...............................................6@ ........................6@ 1.>.( Testing Testing of -!S:"T driver............................................ driver........................................................................ ............................ (7 1.? 3"SI&5 !: $/2 :!; I5)";T";.................................... I5)";T";................................................................(7 ............................(7 /<'$T"; I)......................................... I)................................................................ .............................................. .............................................(( ......................(( 9. $;!+"/T 3"-!5ST;'TI!5.................. 3"-!5ST;'TI!5......................................... .............................................. ....................................(( .............(( >
9.6 I5T;!3U/TI!5....... I5T;!3U/TI!5.............................. .............................................. ..............................................................(( .......................................(( 9.( '5'BTI/' '5'BTI/' ;"SUTS................ ;"SUTS....................................... ........................................................... .................................... ....(( :requency of $0- C >77 <*. Therefore consider 1 k<* for $0-..................(( 9.1 S!:T0';" S!:T0';" I-$"-"5T' I-$"-"5T'TI!5.................................................................(1 TI!5.................................................................(1 9.1.6 ;eference Speed........................................................ Speed............................................................................... ....................... .........(9 ......... (9 9.1.( $I /ontroller.......................................... /ontroller................................................................. .......................................... ............................. ..........(9 (9 9.1.1 /onverter and Inverter 2ridge..................................... 2ridge...................................................................(> ..............................(> 9.1.9 23/ state space model...........................................................................(? 9.1.> "-: generation.......................................... generation................................................................. ....................................... ........................(@ ........(@ 9.1.? &ate $ulse &enerator....................... &enerator.............................................. .......................................................... ................................... 17 9.9 <';30';" I-$"-"5T'TI!5................................................................16 9.9.6 The &ate 3river /ircuit............................................. /ircuit............................................................................. ................................ 16 9.9.( Inverter /ircuit............................................ /ircuit................................................................... ...............................................1( ........................1( 9.9.1 'rduino Uno...................................... Uno............................................................. ................................................. .......................... .......11 /<'$T"; ).......................................... )................................................................. .................................................................... ............................................. 19 >.
;"SU ;"SUTS '53 3IS/USS 3IS/USSI!5... I!5........ .......... .......... .......... .......... .......... .......... .......... ........... ................ ................... ..............19 .....19 >.6 SI-U'TI!5 SI-U'TI!5 ;"SUTS................. ;"SUTS........................................ .............................................. ........................................ .................19 19 >.( <';30';" <';30';" ;"SUTS.................... ;"SUTS........................................... .............................................. .......................................1A ................1A >.(.6
.(.( I;(667 I;(667 driver circuit................................................ circuit....................................................................... ..................................1@ ...........1@ >.(.1 Inverter /ircuit............................................ /ircuit................................................................... ...............................................97 ........................97 >.(.9 23/ motor output......................................................... output...................................................................................9( ..........................9(
/<'$T"; )I........................................... )I.................................................................. .............................................. ........................................... ....................99 99 ?.
/!5/USI! /!5/USI!5.... 5......... .......... .......... .......... .......... .......... .......... .......... .......... .......... .......... .......... .......... .......... .......... .......... .......... .......... ..........9 .....99 9 ?.6 /!ST '5'BSIS................ '5'BSIS....................................... .............................................. .....................................................99 ..............................99 ?.( :uture S/!$" !: 0!;.......................................... 0!;............................................................................... ..................................... 99 ?.1 SU--';B................... SU--';B.......................................... .............................................. .............................................. ..................................... ..............9> 9>
;":";"5/"S......................... ;":";"5/"S................................................ .............................................. ........................................................... .................................... 9? '$$"53I/"S.............................. '$$"53I/"S..................................................... .............................................. ....................................................... ................................ 9A 'ppendi# 68 'rduino Uno coding for commutation...........................................9A commutation...........................................9A 'ppendi# (8 I;:>97 3atasheet..........................................................................>7 'ppendi# 18 I;(667 3atasheet....................................................... 3atasheet...........................................................................>1 ....................>1 /U;;I/UU-)IT'"........................... /U;;I/UU-)IT'".... .............................................. .............................................. ............................................>A .....................>A
?
A
LIST OF TABLES
Table 6. 6. Table (. Table 1. Table 9.
3esign Sp Specifications /ommutation Table 23/ -otor !utputs /ost "stimation
D
LIST OF FIGURES
:igure 6. :igure (. :igure 1. :igure 9. :igure >. :igure ?. :igure A. :igure D. :igure @. :igure 67. :igure 66. :igure 6( 6(. :igure 61. :igure 69. :igure 6>. :igure 6? 6?. :igure 6A. :igure 6D. :igure 6@. :igure (7. :igure (6. :igure ((. :igure (1. :igure (9 (9. :igure (>. :igure (? (?.
23/ -otor $oles of a 23/ -otor
:igure (A. :igure (D. :igure (@ (@. :igure 17. :igure 16. :igure 1(. :igure 11. :igure 19. :igure 1>. :igure 1?. :igure 1A 1A.
Inverter circuit using I;:>97 Speed in rpm% )s Timein seconds% 2ack emf i in )olts% )s. Time i in se seconds% "ffect of oad Torque on 2ack emf /urrent in amps% )s. Time in seconds% "ffect of load torque on on current Inverter 3/ voltage output
:igure 1D 1D. :igure 1@ 1@. :igure 97 97. :igure 96. :igure 9(. :igure 91.
Inverter ou output fo for li line vo voltages '2 and '/ Inverter ou output fo for li line vo voltages 2' 2' and 2/ Inverter ou output fo for li line vo voltages /' /' and /2 Invert erter ou outputs F '2, '/ in )% and Ia in 'mps% Invert erter ou outputs F 2', 2/ in )% and and Ib in in 'mps% Invert erter outputs F /', /2 in )% and and Ic in 'mps%
67
ABBRE)IATIONS AND NOMENCLA NOMEN CLATURE TURE 3/
3irect /urrent
$-2 $-23/ 3/
$erm $erman anen entt -agn -agnet et 2rus 2rush h ess ess 3ire 3irect ct /urr /urren entt
I&2T &2T
Insu Insula late ted d &ate &ate 2ipo ipolar lar Tran ransist sistor or
$0-
$ulse 0idth -odulation
:2
:eedback
I;
International ;ectifier
I/S$
InE/ircuit Serial $rogramming
;$S
;egulated $ower Supply
"-:
"lectromotive :orce
i
Integral /onstant
p
$roportional /onstant
0
Speed
66
CHAPTER I INTRODUCTION
1.1 INTRODUCTION 2rushless 3/ motor may be described as electronically commuted motor which do not have brushes. These types of motors are highly efficient in producing large amount of torque over a vast speed range. /ommutation with electronics has large scope of capabilities and fle#ibility. 23/ motors are available in many different power ratings, from very small motors as used in hard disk drives to larger motors used in electric vehicles. 1.1.1 Mo#i/!#io"
In this age, as the power requirement increases e#ponentially, there is a higher need for the equipment to be more efficient and maintenance free. This is solved by the use of 23/ motors. The brushes of the mechanical commutator eventually wear out and need to be replaced. There are other undesirable effects such as sparks, noise, etc. ' 23/ 23/ motor lacks the brushes and physical commutator. This means there are fewer parts that can break or wear out and need to be replaced. Thus they tend to be more reliable, last longer and be more efficient. The 23/ motors can also operate at speeds above 67,777 rpm in both loaded and unloaded conditions. 1.1.9 O:-,#i/,
To achieve speed control of a 23/ motor by $0- pulse width modulation% technique used to control si# -osfet4I&2T switches which gives the supply to the stator windings of the motor. The rotor position of the motor is detected by
1.1.3 So&, of #$, or
The project will control the speed of 23/ motor using $0- technique for which we need to know how to generate those pulses using a processor using assembly or embedded /. -otor specification and hall sensor details also need to be analysed to decide the -osfet4I&2T rating and the rating for the driver circuit. $rogramming for the si# step commutation is done using the hall sensor outputs. Initially the hall sensors signal is being sent to the processor to decide which phases are to be e#cited ne#t to keep the motor running. The processor generates the $0 pulses to the respective drivers which will further switce the respective -osfet4I&2T switches. The microcontroller will be used to implement closed loop control of 23/. This project will also be simulated in Simulink using state space model. The Speed control of brushless 3/ motor circuitry will consist of two main circuits cir cuits F The Inverter and the &ate 3river /ircuit. The pulses given through the processor, based on the hallEeffect sensor s ensor values, will allow us to control the speed s peed if the motor, whic which h can can be used used in vari variou ouss appli applicat catio ions ns rangi ranging ng from from home home to aero aerosp spac acee engineering.
1.9 ORGANI;ATION OF THESIS
The thesis contains si# chapters describing the modelling and control approach of a permanent magnet 23/ motor, motor, and is organi*ed as follows discusses ses the essenti essential al backgr backgroun ound d of the projec projectt and the analyt analytical ical C$!& C$!&#, #,rr 9 discus approach to the problem, along with the literature survey of the problem. C$!&#,r 3 describes, describes, in detail, the approach required for the implementati implementation on of the
project.
Simula Simulatio tion n F modelli modelling, ng, progra programmi mming ng techniq techniques, ues, steps, steps, flow flow charts, charts, simulation results and verification of the approach followed
C$!&#, C$!&#,rr < e#plains how each circuit was fabricated, tested and how the over all
circuitry was operated. It gives a basic idea about the project description. (
C$!&#,r = is about the result obtained and the discussions regarding the output
obtained from both hardware and software simulations. C$!&#,r > is about the conclusion obtained by taking into consideration the cost
analysis, future scope and gives the overall summary of the project.
1
CHAPTER II PROJECT DESCRIPTION
9.1 O)ER)IE OF PROJECT The brushless 3/ motor is becoming increasingly popular in the industrial and <)'/ <)'/ sectors as it negates the mechanical commutator used in traditional motors. The brushless brushless 3/ motor motor 23/% 23/% replace replacess the mechan mechanical ical commutat commutator or with with an electro electronic nic device device which which improv improves es the reliabi reliabilit lity y and durabilit durability y of the unit. unit. The electronics allow for accurate speed and torque control and ensure that the motor runs at peak efficiency. efficiency. This is a relatively relatively new class of motor motor whose applications applications have been increasing at a rapid rate each year, due both to declining costs as well as increasing functionality. 'n advantage of the 23/ motor is that it can be made smaller and lighter than a brush type with the same power output, making it suitable for applications where space is limited. 'lthough the 23/ requires an electr onic control unit, such devices are available as standard chipsets or modules from most of the major electronics manufacturers. $rogramming and setEup of the controls are very simple. -ass production and wide market penetration make these devices economical. In a conventional brushed% 3/Emotor, the brushes make mechanical contact with a set of electrical contacts on the rotor called the commutator%, forming an electrical circuit between the 3/ electrical source and the armature coilEwindings. 's the armature rotates on a#is, the stationary brushes come into contact with different sections of the rotating commutator. The commutator and brushEsystem form a set of electrical electrical switches, switches, each firing in sequence, such that electricalEpow electricalEpower er always flows through the armatureEcoil closest to the stationary stator permanent magnet%. In a 23/ motor, the electromagnets do not moveG instead, the permanent magnets rotate and the armature remains static. This gets around the problem of how to transfer transfer current current to a moving moving armature. In order to do this, the commutator assembly assembly is replaced replaced by an intelligent intelligent electronic controller controller.. The controller controller performs performs the same 9
powerEdistribution found in a brushed 3/ motor, motor, but using a solidEstate circuit rather than a commutator. 23/ motors have many advantages over 3/ motors. ' few of these are8
23/Hs main disadvantage is higher cost which arises from two issues. :irst, 23/ motors require comple# electronic speed controllers to run. 2rushed 3/Emotors can be regulated by a comparatively trivial variable resistor potentiometer or rheostat%, which is inefficient but also satisfactory for costEsensitive applications.
9.9 MODULES OF THE PROJECT The goal of the Speed control of 23/ motor is to develop an optimi*ed way for the speed control of 23/ motor. It includes the following steps8
!btaining data about rotor position and speed from the hall sensor of the 23/ motor. $0- generation from processor. 3riving -osfet4I&2T from -osfet4I&2T drivers by the $0- pulses. Using inverter outputs to operate the 23/ motor.
0hil 0hilee 23/ 23/ moto motors rs are are mech mechan anic ical ally ly rela relati tive vely ly simp simple le,, they they do requ requir iree sophis sophistica ticated ted contro controll electro electronics nics and regula regulated ted power power suppli supplies. es. There There e#ists e#ists the challenge of dealing with a threeEphase highEpower system that demands precise contro controll to run effici efficient ently ly.. :or that, that, a sophis sophistic ticated ated and optimi optimi*ed *ed electro electronic nically ally commut commutate ated d progra program m has to be writte written n so that that the commut commutatio ation n process process occurs occurs without any power loss. :urthermore, the switching sequence of the inverter switches have to be correct and in sequence for optimal operation of the inverter.
9.9.1 BLDC Mo#or
Co"#r'#io"
>
2rushless permanent magnet motor operation relies on the conversion of energy from electri electrical cal to magnet magnetic ic to mechan mechanical ical.. 23/ 23/ motors motors are a type type of synchr synchrono onous us motors. This means that the magnetic field generated by the stator and the magnetic field generated by the rotor rotate at the same frequency. 23/ motors come in singleEphase, (Ephase and 1Ephase configurations. /orresponding to its type, the stator has the same number of windings. It is a rotatin rotating g electri electricc motor motor consist consisting ing of stator stator armatur armaturee windin windings gs and rotor permanent magnets whereas in a conventional brushed 3/ motor the stator s tator is made up of permanent magnets and rotor consists of armature windings. The conventional 3/ moto motorr comm commut utes es itsel itselff with with the the use use of a mech mechan anic ical al comm commut utato atorr where whereas as brushless 3/ motor needs electronic commutation for the direction control of current through the windings. Typically, 23/ motors have three phase windings that are woun wound d in star star or delta delta fash fashio ion n and and need need a three three phase phase inve inverte rterr brid bridge ge for for the the electronic commutation.
:igure 68 23/ -otor
The various parts of 23/ motor are8 S#!#or E -ost 23/ motors have three stator windings connected in star fashion.
"ach of these windings are constructed with numerous coils interconnected to form a winding. Ro#or E The rotor of a typical 23/ motor is made out of permanent magnets.
3epending upon the application requirements, the number of poles in the rotor may
?
vary. Increasing the number of poles may give better torque, but at the cost of reducing the ma#imum possible speed.
:igure (8 $oles of a 23/ -otor
H!%% S,"or ? If an electric current carrying conductor is kept in a magnetic field, the
magnetic field e#erts a transverse force on the moving charge carriers which tends to push them to one side of the conductor. This This is most evident in a thin at conductor. conductor. ' buildup of charge at the sides of the conductors will balance this magnetic influence, producing a measurable voltage between the two sides of the conductor. conductor. The presence of this measurable transverse voltage is called the
:igure 18
ori" Pri"i&%, !"( O&,r!#io"
A
The underlying principles for the working of a 23/ motor are the same as for a brushed 3/ motorG i.e., internal shaft position feedback. In case of a brushed 3/ motor, feedback is implemented using a mechanical commutator and brushes. 0ith a in 23/ motor, motor, it is achieved using multiple feedback sensors. The most commonly used sensors are hall sensors and optical encoders. If the direction of the magnetic field is reversed, the voltage developed will reverse as well. :or
:igure 98 /ommutation /ycle In a commutation system F one that is based on the position of the motor identified using feedback sensors F two of the three electrical windings are energi*ed at a time as shown in figure 1. D
In $hase 6 , the &;""5 winding labeled 776J is energi*ed as the 5!;T< pole and the 2U" winding labeled as 767J is energi*ed as the S!UT< pole. 2ecause of this e#citation, the S!UT< pole of the rotor aligns with the &;""5 winding and the 5!;T< 5!;T< pole aligns with the ;"3 winding labeled 677J. In order to move the rotor, the ;"3J and 2U"J windings are energi*ed in the direction as can be seen in $hase (. This causes the ;"3 winding to become the 5!;T< pole and the 2U" winding to become the S!UT< pole. This shifting of the magnetic field in the stator produces torque because of the development of repulsion ;ed winding F 5!;T
9.9.9 I"/,r#,r
' power inverter, or inverter, is an electronic device or circuitry that changes direct current 3/% to alternating current '/%. The input voltage, output voltage and frequency, and overall power handling depend on the design of the specific device or circuitry. The inverter does not produce any powerG the power is provided by the 3/ source. ' trape*oidal $- machine gives performance closer c loser to a dc motor. :or this its known as a brushless dc motor 23/%. It is an electronic motor and requires a threeEphase inverter to the driving side for feeding power into the machine. The inverter works as an electronic commutation which performs the switching according to the output from the position sensors. The inverter operates in two modes8 6% (K41 (K41 angl anglee switc switchEo hEon n mode mode (% )oltage oltage and current control control $0$0- mode mode
@
:igure >8 Three $hase Inverter
15 9@73 !"%, i#$?o" 2o(,
In this mode of operation all inverter switching devices S 6 toS ?% are switch onEoff in such a way that the current input I s is equally for the (K L 1 angle at the centre of each induced back emf voltage waveform. 't an instant only two switches are on, one from the positive group and one from the negative group. :or e#ample, from instant t6, S6 and S? are conducting then the supply voltage ) s and input dc current I s are applied across the '2 phase of the inverter such that positive I s will flow in phase ' and negative Is will flow in phase 2. Then, after K L1m interval S ? is turn !:: and S ( is turn !5, S 6 continues conduction for full (K L 1 angle. The conduction pattern changes every K L 1 degree, with every switch has a conduction period of (K L 1 degree. The switching sequence depends on the output of the position sensors.
95 )o%#!, !"( C'rr,"# Co"#ro% PM 2o(,
In the previous mode each switch of the inverter are switched !5E!:: for (K L 1 degr degree ee angl anglee to gene genera rate te the the comm commut utat atio ion n func functi tion on only only.. In addi additi tion on to the the commutation function. It is possible to control the voltages and currents continuously at the machine machine termin terminal al by contro controlli lling ng the switches switches in $0- mode. There There are essentially essentially two modes for the current current and voltage control operations operations of the inverter. inverter. These two modes are feedback :2% mode and freewheeling mode. In both these 67
modes switching devices are turned on and off for timing basis to controlled the machine currents Iav and the machine average voltages ) av.
23/ -otors are 3/ in the sense that they are fed from a 3/ source. Thus, they use an inverte inverterr as an Melectro Melectronic nic commut commutato atorM rM to provid providee an alterna alternatin ting g curren currentt in accordance with the rotor position so that it can generate the torque. 9.9.3 Dri/,r Cir'i#
' gate driver is a power amplifier that accepts a lowEpower input from a controller I/ and produces a highEcurrent drive input for the gate of a highEpower transistor such as an I&2T or power -!S:"T. &ate drivers can be provided either onEchip or as a discr discrete ete modu module le.. In essen essence ce,, a gate gate driv driver er cons consist istss of a leve levell shift shifter er in combination with an amplifier. :or this circuit, we have used the International ;ectifiers I;(667 I/ for building the &ate 3river /ircuit. It is the most commonly used driver chip as it is a type of highE low side -!S:"T driver.
:igure ?8 :unctional 2lock 3iagram of I;(667
66
:igure A8 69 $in $3I$ $ackage
9.9.< Co"#ro%%,r
:or controlling the pulses and a nd thus the speed of the motor, we use 'rduino -"&' as the controller. It is used to send the pulses to the Inverter circuit, which along with the hall sensor outputs, results in the control of the movement of the rotor. The -ega (>?7 (>?7 is a micro microco cont ntro roll ller er board board based based on the the 'Tmeg Tmega( a(>? >?7. 7. It has has >9 digi digital tal input4output pins of which 6> can be used as $0- outputs%, 6? analog inputs, 9 U';Ts hardware serial ports%, a 6? -<* crystal oscillator, a US2 connection, a power jack, an I/S$ header, and a reset button. It contains everything needed to support the microcontrollerG simply connect it to a computer with a US2 cable or power it with a '/EtoE3/ adapter or battery to get started.
9.3 TASKS AND MILESTONES MILES TONES There are three major milestones as well as several smaller tasks that must be achieved in order to reach the milestones. The three milestones are8 6. To impl implem emen entt the the state state space space mode modell of 23/ 23/ moto motorr and and Simu Simulat latio ion n in Simulink. (. earn earn to program program a processo processorr to read the hall hall sensor sensor outputs outputs and switc switch h the -osfet4I&2T accordingly. accordingly. 1. :abricate :abricate an inverter inverter and and the the necessary necessary gate driver driver circuit. circuit. 9. 3eveloping 3eveloping a program program for closed loop speed control. control. Tasks will be split up among group members according to each memberNs level of e#pertise or comfort. "ach task will have a leader who is responsible for completion 6(
of that task.
61
CHAPTER III DESIGN OF SPEED CONTROL OF BLDC MOTOR
3.1 DESIGN APPROACH The first logical step in the design of speed control of 23/ motor is to derive the commutation table. !nce this has been done, the mathematical model of the 23/ motor has to be made, from which a simulink model can be designed and simulated. This will help to understand the working of the 23/ motor and the parameters on which its different attributes depend. !nce this has been done, the hardware fabrication can begin with the design and testing of a suitable gate driver circuit. This is followed by the design and $/2 fabrication of the inverter circuit. !nce these different circuits have been assembled and tested, the 23/ motor and hall sensor module can be connected and the motor can be operated with the help of suitable processor. The processor will analyse the hall sensor outputs and trigger the -!S:"Ts accordingly. 3.1.1Co(, !"( S#!"(!r(
The 'utonomous SlotEcar system will consist of a special car, sensors on the track and computer control software. 3.1.9R,!%i#i Co"#r!i"#
The simulation is done on -'T'2 and Simulink and hence, is not a real time representation of the 23/ -otor. There are also a few assumptions made while the mathematical model is derived and therefore, the simulation results might not be 677O realistic. The ;$S units available available have a fi#ed power output, therefore therefore restricting the current that can be drawn at any particular set voltage. 3.1.3A%#,r"!#i/, !"( Tr!(,off
The 23/ motor while running draws too much current at certain frequencies. The ;$S unit may not be able to supply such currents without a closed circuit error occurring, therefore the frequencies at which the motor can be operated with the given ;$S is limited.
69
The motor did not have correct labels of the phases which willhave to be obtained using a commutation table. This will also help to reali*e which phases are e#cited at different positions.
3.9 DESIGN SPECIFICATIONS S.5o. 6
$art of the $roject -otor with
;ating ?777;$-P(9)3/ 6D70, D'
(
'rduino -ega (>?7
1
$ower "lectronics 3evices
-!S:"T I;:>97 ?7) 4 1('
Table 68 3esign specification specif ication
3.3 DERI)ATION OF COMMUTATION TABLE FOR BLDC MOTOR
3ue to the absence of any proper documentation for the motor used, there were a few problems while beginning to work with it. The main issues and the jobs to be carried out were8
$in /onfiguration of the motor
:ind the phase sequence and its respective
Subsequently, Subsequently, form a commutation table
0e started working on the commutation table first, to be able to better understand and work with the motor. The main steps for the formation of a commutation table are8 6.
Take the the three phases phases and and mark them them as $hQ', $hQ', $hQ2 $hQ2 and $hQ/ $hQ/.. 3onNt 3onNt mark mark the hall sensors yet.
(.
5ow conne connect ct the phas phasee as per the seque sequence nce given given in the the figure figure @ starti starting ng from from 'R2E/Eand moving anticlockwise.
6>
:igure D8 /ommutation Table &eneration
1.
'fter 'fter connecti connecting ng the phas phases es as per the first first sequen sequence, ce, note note down down the hall hall sensor sensor readings. Two of the hall sensors will be high and one will be low. -ark that as
9.
5ow connec connectt the phases as per the second second connection connection 'R2R/E and check check for for the change in the hall sensor output. 5ow one of the hall sensors will change from high to low from the previous state. -ark this hall sensor as
>.
So starti starting ng from from 'off, 'off, 2R, /E , run run anticlo anticlock ckwi wise se and form the the comm commut utati ation on table.
6?
<' 6 7 7 7 6 6
H!%% S,"or <2 6 6 6 7 7 7
P$!, Co"",#io"
$hQ/ E !:: R R !:: E
:igure @8 $hase and
3.< DERI)ATION OF STATE SPACE MODEL In this Simulation, a three phase, ( poles and B connected trape*oidal backE"-: type type 23/ 23/ moto motorr is mode modelle lled. d. Trape* rape*oi oidal dal back backE"E"-: : impl implie iess that that mutu mutual al inductance between stator and rotor has trape*oidal shape. Therefore, abc phase variable model is more applicable than dEq a#is. 0ith the intention of simplifying equations and overall model the following assumptions are made8 Stator resistance and selfEinductance of all phases are equal and constant and mutual inductance is taken *ero. 6A
)a ;Ia R dIa4dt R emfa
E
6%
)b ;Ib R dIb4dt R emfb
E
(%
)c ;Ic R dIc4dt R emfc
E
1%
emfa ewm:Ve%
E
9%
emfb ewm:Ve E (K41%
E
>%
emfc ewm:Ve R (K41%
E
?%
Te WemfaIaR emfbIbR emfcIcX4wm
E
A.6%
E
A.(%
B. M,$! M,$!"i "i!% !% E E'!# '!#io" io"
Te 2wm R +dwm4dtRTl
Taking into consideration the above equations one can develop a state equation mode modell of 23/ 23/ moto motorr. The The foll follow owin ing g matr matri# i# alge algebr braa will will solv solvee for for vario various us parameters of the motor. motor.
E 'nd
6D
D%
E
@%
0here )ab)aE)b, "-:ab"-:aE"-:b, and )bc)bE)c, "-:bc"-:bE"-:c Thereore, the Simulink block model for the state space model of 23/ can be drawn as shown.
:igure 678 State Space -odel
3.= TESTING OF OTHER COMPONENTS 'fter the motor was tested and its commutation sequence obtained, the ne#t step in the the proc process ess is to test test the the remain remainin ing g comp compon onen ents ts i.e. i.e. the the gate gate driv driver er and and the the -!S:"Ts. 3.=.1 T,#i" of MOSFET
The -!S:"T -!S:"Ts used in the inverte inverterr circui circuitt irf>9 irf>97% 7% were were tested tested using using a digital digital multimeter in the diode test range to ensure their working. /onnect
the
HSourceH
of
the
-os:et
to
the
meterHs
negative
lead.
6%
(% :irst, touch the meter positive lead onto the -os:etHs H&ateH. 1% 5ow move the positive probe to the H3rainH. Bou should get a HlowH reading. The -os:etHs internal capacitance on the gate has now been charged up by the meter and the device is HturnedEonH. 9% 0ith the meter positive still connected to the drain, touch a finger between source and gate and drain if you like, it does not matter at this stage%. The gate will be discharged through your finger and the meter reading should go high, indicating a nonEconductive device. 0hile this tes is not 677O accurate, it is useful to test whether the -!S:"Ts are in working condition. 3.=.9 T,#i" of MOSFET (ri/,r
:igure 668 -!S:"T driver circuit for one phase In this project, I;(667 is used as the gate driving I/. :or testing purpose the high input and low input pins of the I/ were fed from the 'rduino and the output waveforms were verified before connecting it to the inverter circuit. The waveforms were analysed to ensure that two switches in the same phase leg are not turned on at once which wouldNve resulted in the short circuit of the -!S:"T switches.
(7
3.> DESIGN OF PCB FOR IN)ERTER 'fter the components and the gate driver was tested, the ne#t step was to fabricate a $/2 for the inverter circuit. "#press$/2 software was used to design the schematic for the inverter circuit. Start by inserting the necessary components into the file and dragging them into their necessary position. The connections are made by drawing traces according to the figure given given below. below. !nce the design is complete, the same is fabricated.
:igure 6(8 Inverter $/2 outline for fabrication
(6
CHAPTER I) <. PROJECT DEMONSTRATION
<.1 INTRODUCTION 23/ -otor 3river is -!S:"T4I&2T based device which includes all the circuitry needed to drive a three phase 23/ motor. motor. In this configuratio configuration, n, three hall sensors are placed at 6(7 electrical degrees apart around the motor shaft, detects the rotor position in three phase motor. motor. There are eight possible combinations for three hall sensors inputs out of which si# combinations are valid with 6(7 electrical degree sensor phasing. :or any
Ther Therefo efore, re, -oto -otorr driv driver er perfo perform rm two two tasks tasks88 a% a% "lect "lectro roni nicc
commutation and b% Implement $0- /urrent controller.
<.9 ANALYTICAL RESULTS The -!S:"T ratings are calculated on the basis of the motor. )oltage rating Y -otor rating ?7) Standard rating of power -osfet% /urrent rating -otor current rating 6.> D6.>6(' minimum% :requency of $0- depends on ma#imum speed. -a#imum speed of motor 9?77 rpm A?.??A rps. Time taken for 6 rotation 64A?.??A 7.7617 s Total time for one commutation cycle E?% Time taken taken for 6 /ommut /ommutatio ation n step to complet completee 'ssum 'ssuming ing Unifor Uniform m rotatio rotational nal Speed% 7.76174? 7.77(6A9 S 9?7 <*. :requency of $0- C >77 <*. Therefore consider 1 k<* for $0-.
((
<.3 SOFTARE IMPLEMENTATION The state space space model model derive derived d in section section 1.9 is implem implement ented ed by mathem mathematic atical al modeling of the motor in Simulink.
:igure 618 Simulink model
The above model has ? main subEsystems which are described in subsequent subE chapters. Initially, the motor is at rest but as the model is mathematical the "-: will start generating itself using the necessary equations. The motor position is detected and as a result the gate pulses are generated to drive the gates which in turn drives the 23/ motor.
feeding a $0- to the -!S:"T, an error signal is generated and fed to the )oltage source. Thus the speed of the 23/ motor is controlled. ' provision to give an e#ternal load torque is also included in this model. The closed loop control of the motor will make the speed of the motor to remain at the reference speed. The simulation allows the user to view the 2ack "mf of the motor, /urrent output of the motor, the speed in ;$-, and the increasing value of theta so as to know the actual position of the motor at any given instant.
<.3.1 R,f,r,", S&,,(
:igure 698 ;eference speed subEblock This This bloc block k gene genera rates tes a speed speed sign signal al whic which h chan changes ges at spec specifi ified ed time times. s. In this this particular model the speed is kept at (777 rpm for the time period 7 to 7.> seconds s econds and at 7.> second instant, the speed is reduced to 6777 rpm.
<.3.9 PI Co"#ro%%,r
:igure 6>8 $I controller subE block
The $I controlled produces the "rror Signal Z/sN which is taken from the error between 0actual and 0reference. The generated error signal is then used to control the )oltage control source. The trial and error method of loop tuning is employed in
(9
this project for the design of $I speed controller. This method is crude but could help in getting an overview of what the $I parameters could be like and their effects on the whole system model. In this tuning method8 :irst set the i and p values to *ero. Increase the p until the output of the loop oscillates. Then increase i until oscillation stops.
<.3.3 Co"/,r#,r !"( I"/,r#,r Bri(,
:igure 6?8 /onverter Inverter 2ridge subEblock The error signal generated from the $I block is fed into the controlled '/ voltage source. The given '/ )oltage source is fed to Universal 2ridge which consists of a rectifier and controlled 1 phase inverter circuit. The )oltages are then converted into line values and then sent to the output of the block for further calculations. calculations. The line voltages are used as it will simplify the state space model and hence reduce the computational time. The gate pulses are generated in the e#ternal "-: generator which generates generates just the reference reference "-: and hence according according to the "-: the pulses are generated and fed to the 1 phase inverter which is there in the universal bridge.
<.3.< BLDC #!#, &!, 2o(,%
The 23/ 2lock itself consists of three blocks blocks for implementing implementing the "quation "quation D as stated in the section 1.9. The current generator will generate the current of two (>
phases and the current of the third phase is calculated by the ir chhoffNs current rule. 'fter finding out the current, the currents are used with "mfs and load torque provided e#ternally e#te rnally to calculate the value of theta $osition of rotor% and then 0m, the speed of the rotor. In the speed generator block, the value of theta and 0m is then used to generate the "mfs value of the motor through the "mf generation block.
:igure 6A8 State space model sub block
's the -odel is a mathematical model and state space equation are used to derive the model. The real time simulation of the model is not possible through Simulink. This is the reason the motor does not act as a real motor as the real motor is much more comple# compared to this model and there are many more parameters not included in this model which are actually present in the 23/ motor. motor.
C'rr,"# G,",r!#or
(?
:igure 6D8 /urrent &enerator subEblock
:igure 6@8 State "quations
:igure (78 /urrent generator for Ia
The following current generators for Ia and Ib are mathematically calculated from the state space equations given in equation D. The state equations of both the currents are blocked separately with functions.
:Ia% (u 6% Ru (%E(u 1% Ru 9% Ru >%E1(.DA>7u ?% :Ib% Eu 6% Ru (% Ru 1%E(u 9% Ru >%E1(.DA>7u ?% (A
0here u 6% )ab, )ab, u (% )bc, u 1% "a, u 9% "b, u >% "c, u ?% Ia4Ib. Then the value integrated to give the value of the currents are then added negatively and as per the irchhoffNs current rule Ic EIaEIb. is taken out.
S&,,( ,",r!#or
:igure (68 Speed generator subEblock The current and the "-:s are used with e#ternal mechanical load is used to find out the 0e 0e and then it is converted into 0m by multiplying it with $4(. The 0 Speed% is calculated using the equation D. The Te Te is calculated cal culated using the equation A.(.
E2f G,",r!#io"
:igure ((8 emf generation subEblock
The "mf is generated from the equations 9,> and ? according to the :Ve%. The function function is to generate the trape*oidal function function to produce produce the "mf of the phases. ' (D
cosine function is used, which is phases shifted by 6(7 degrees for the three phases. In addition, a saturation block is included which will saturate the cos at 7.D which will give a trape*oidal wave.
:igure (18 "mf generation for "a
The figure (6 gives the output for "a, for "b the /os u 6%% will become /osu6%E /osu6%E (K41% and /os u 6% R(K41% for "c. Then the combined "mf values are sent to the speed generator block for speed calculations. So 23/ State space model calculates currents and "-:s of the phases, Theta and Speed in rad4s. This values are then utili*ed to find out the position of the motor and hence to generate the pulsed as per it.
<.3.= EMF ,",r!#io"
:igure (98 "-: generation for detecting rotor position
[As the state space model doesn’t have a hall sensor. The rotor sensor has to be derived from the Emf of the BL! motor." motor." (@
Initially the angle theta is converted to degree using ;ad to 3eg block. Then the ;eference "mfs of the phases is calculated using the -atlab function. function yemfgu% if uYE6D7%[[u\E6(7% yWE6G7G6XG elseifuYE6(7%[[u\E?7% yW7GE6G6XG elseifuYE?7%[[u\7% yW6GE6G7XG elseifuY7%[[u\?7% yW6G7GE6XG elseifuY?7%[[u\6(7% yW7G6GE6XG elseifuY6(7%[[u\6D7% yWE6G6G7XG end
This function calculates the "mfs and then gives an output for calculation of gate sequence according to the position of the motor .
<.3.> G!#, P'%, G,",r!#or
:igure (>8 &ate pulse generator subEblock
The gate pulses are generated as per the commutation tabled attached with the diagram. It states the commutation sequence for the particular position of the motor. "mf is generated according to the commutation table and it gives the pulses for the three phase inverter in the converter and inverter bridge.
17
<.< HARDARE IMPLEMENTATION The hardware implementation of the project is done using four main blocks i.e. /ontroller, 3river /ircuit, Inverter /ircuit and 23/ motor. The testing of which is already done using the techniques discussed under Section 1.> 'fter testing the complete circuit was assembled and tested again.
<.<.1 T$, G!#, Dri/,r Cir'i#
The I;(6674I;(661 are high voltage, high speed power -!S:"T and I&2T drivers with independent high and low side referenced output channels.
16
:igure (?8 &ate driver circuit for phase ' and 2 using I;(667 <.<.9 I"/,r#,r Cir'i#
The inverter circuit using -!S"Ts are pulsed from the gate driver circuit and hence, are driven in sequence to run the 23/ motor. The design for the inverter discussed in section 1.> is printed on a $/2 and the -!S:"Ts -!S:"Ts are soldered. s oldered.
:igure (A8 Inverter circuit using irf>97 1(
<.<.3 Ar('i"o U"o
The 'rduino Uno is a microcontroller board based on the 'Tmega1(D. It has 69 digital input4output pins of which ? can be used as $0- outputs%, ? analog inputs, a 6? -<* ceramic resonator, a US2 connection, a power jack, an I/S$ header, and a reset button. It contains everything needed to support the microcontrollerG simply connect it to a computer with a US2 cable or power it with a '/EtoE3/ adapter or battery to get started. In this project the 'rduino Uno is used as the processor which reads and analyses the hall sensor outputs and generates the necessary pulses to the gate driver circuit accordingly. accordingly.
11
CHAPTER ) =. RESUL RESULTS AND DISCUSS DISCUSSION ION
=.1 SIMULATION SIMULATION RESULTS RESULTS
:igure (D8 Speed in rpm% )s Timein seconds%
The above figure shows the Speed vs. Time graph for the reference input speed W(777 6777X for the time period W7 7.>X. 'n e#ternal load torque is applied at the instant t7. t7.( ( seco second ndss whic which h coun counts ts for for the the slig slight ht dip dip in speed speed at that that inst instan ant. t. The The $I controller, however makes up for this e#ternal torque and brings the speed back to (777 rpm. :igure (D shows the change in back emf as the speed of the motor changes from (777 rpm to 6777 rpm at the instant t7.> seconds. In figure (@, we can see that the
19
on application of the load torque the back emf e#periences a slight reduction but this is almost instantly recovered from.
:igure (@8 2ack emf in )olts% )olts% )s. Time in seconds%
:igure 178 "ffect of oad Torque on 2ack emf
1>
:igure 168 /urrent in amps% )s. Time in seconds% s econds%
:igure 1(8 "ffect of load torque on current
In figure 17, the currents currents of the three phases are depicted. 't 't t7.> seconds the speed of the motor is decreased to 6777 rpm and the subsequent fall in current drawn can be seen. In figure 16, the current drawn by the motor increases when a load torque is applied e#ternally at t7.( seconds.
1?
:igure 118 Inverter 3/ voltage output
The -odelling of the 23/ using the state space model is done and simulated in the Simulink and the related outputs are taken from it. The above simulations are done in -atlab and not simulated on !$" ;T software. So the above results cannot be taken as the real time output of the motor. The -odel also considers many assumptions due to which the results are not as e#pected from the real time motor. The assumptions include. 6. Stator resistance and selfEinductance of all phases are equal and constant and mutual inductance is taken *ero. (.
=.9 HARDARE RESULTS "ach hardware circuit was separately tested and each output individually verified. This way any complications that arise in any particular circuit can be rectified easily. This step is important because as the full setup is completed and then if any problem arises then it will be difficult to determine where the problem has arisen.
1A
=.9.1 H!%% ,"or o'#&'#
The
:igure 198
:igure 1>8
1D
=.9.9 IR9110 (ri/,r ir'i#
The driver circuit was designed as shown in section 1.>.( The driver was then fed from the 'rduino and the output pulses were checked.
:igure 1?8 I;(667 driver circuit outputs
:igure 11 shows the pulses for the high switches of all three phases. The output pulses generated have a voltage of 6( )olts. )olts. :igure 19 shows that there is a slight disturbance in the pulses when the 23/ motor is fed from the inverter, this is due to the fact that 23/ motor acts as an inductive load.
:igure 1A8 I;(667 driver circuit outputs with motor connected 1@
=.9.3 I"/,r#,r Cir'i#
The inverter -!S:"Ts are fed from the driver circuit. &ate current limiting resistors are added to the circuit to limit the current flowing to gate of the -!S:"Ts. The line voltages from the inverter are obtained and shown in the figures below.
:igure 1D8 Inverter output for line voltages '2 and '/
:igure 1@8 Inverter output for line voltages 2' and 2/
97
:igure 978 Inverter output for line voltages /' and /2
:igure 968 Inverter outputs F '2, '/ in )% and Ia in 'mps%
96
:igure 9(8 Inverter outputs F 2', 2/ in )% and Ib in 'mps%
:igure 918 Inverter outputs F /', /2 in )% and Ic in 'mps%
=.9.< BLDC 2o#or o'#&'#
!nce !nce the motor motor was operate operated d using using the pulses generated generated from the inverte inverter, r, the voltage voltage and current drawn by the motor motor as well as the speed of the motor motor was noted down for different frequencies. The supply voltage was applied such that the motor shaft rotates at its smoothest operation. The recorded output is tabulated as shown in the below table.
9(
:reque :requency ncy in Supply )oltage <*% in )% (7.D7 A.> 6?.?A >.@ 61.DD ?.( 66.66 1.D D.11 9
!utput )oltage in )% 6? 6A 6A.D 69 69.9
/urrent 'mps.% A.9 A.? 61.( 67 D.A
Table 18 23/ motor outputs
91
in
Speed in rpm% ?6( 9@? 1@D 177 (77
CHAPTER )I >. CONC CONCLU LUSI SION ON
>.1 COST ANALYSIS ANALYSIS ;eliable cost estimates are necessary for responsible fiscal management at every stage of the project. Unreliable cost estimates cause significant problems for budgeting as well as local and regional planning. Unreliable Unreliable cost estimates may also lead to staffing and budgeting decisions that use resources incorrectly or inefficiently. The cost estimate for this project is as follows S. 5o 6 ( 1 9 > ?
/omponent 23/ motor $/2 2oard fabrication 'rduino Uno -!S:"T 3river circuit -iscellaneous
/ost in rupees% 6(,777 6,>77 ?77 A77 6777 177 6?,677
Table 98 /ost estimation
>.9 FUTURE SCOPE OF ORK 's the name implies, 23/ motor does not use brushes for commutation, instead they are electronically commutated. 23/ motor have advantage over brushed 3/ motor and induction motor as better speed and torque characteristic, high dynamic response, high efficiency, long operation life and noiseless operation. :uture scope of 23/ motor is improvement in speed control using closed loop technique with predictive control. $redictive control is a predictive control algorithm that uses variation trend to regulate. $redictive control has a variety of forms in
99
practical application but no matter what form, all can be summari*ed as predictive models, rolling optimi*ation, error correcting three basic characteristics. The role of prediction models is predicting the output in the ne#t period period of time. The motor speed can be changed smoothly by the way of adjusting voltage to control the speed. -eanwhile, because the electromagnetic torque of the brushless 3/ motor is directly proportional to the rotor current, the motor load torque torque signal feedback is helpful to improve the load capacity of the motor. In order to improve the speed control system quickly and antiEdisturbance capacity, the design of the speed control system here takes the structure of doubleEloop. The other future scope is hybrid integrator back stepping controller, i.e. proposed for robotic manipulators actuated with brushless dc motors in the presence of arbitrary uncertain inertia parameters of the manipulator and the electrical parameters of the actuators. 'nd advancement in it leads to the study of the control of robots actuated by the 23/- i.e. relatively recent. In a robust feedback lineari*ing control was proposed. 2y using integrator back Stepping techniques, robust and adaptive controllers are proposed, respectively. 0e 0e can also go for :u**y logic controller instead of 'rduino
>.3 SUMMARY 'rduino Uno with the help of hall sensor module has been employed for the speed control of $-23/ motor drive and analysis of results of the performance of a controller is presented. The modeling and simulation of the complete drive system is described in this thesis. 3esign and testing of the gate driver circuit has been carried out. Testing Testing of inverter component and $/2 fabrication for inverter inverte r has been done. The development of the necessary software coding required for the proposed speed control 23/ drive has been carried out.
9>
REFERENCES 6. U. 5eethuG 5eethuG ). ). ;. +isha, Speed control control of 2rushless 2rushless 3/ -otor8 -otor8 ' comparative comparative studyE I"""EIS258 @ADE6E9?A1E9>7?E9. @ADE6E9?A1E9>7?E9. (. $. $illayG 3ept. of "lectr. "lectr. [ "lectron. "ng., "ng., 5ewcastleEUponET 5ewcastleEUponETyne yne Univ., Univ., UG ;. rishnan, -odeling simulation and analysis of a permanent magnet brushless dc motor drive,J presented at the I""" I'S 'nnual -eeting, 'tlanta, 6@DA. 1. ;. rishnan, rishnan, Selecti Selection on criteria criteria for 23/ 23/ motor motor drives,J drives,J in $roc.I"" $roc.I""" " I'S 'nnu. -eeting, 6@D?, pp. 176E17D. 9. -ohamad -ohamad +amil . -.&opal -.&opal 3igital 3igital control control and and state variable variable methodsJ methodsJ Tata -c&raw -c&raw 4d 47>4debug ebuggingEb gingEbridgeE ridgeEtipsE tipsE tosuccessfully.html]m6 @. Sudhanshu Sudhanshu -itra, ;.Saida ;.Saida 5ayak, 5ayak, ;avi ;avi $rakashG $rakashG -odeling -odeling and and Simulation Simulation of of 23/ -otor using -'T'24SI-UI5 -'T'24SI-UI5 "nvironmentE International ;esearch +ournal of "ngineering and Technology Technology I;+"T%, )olume8 )olume8 7( Issue8 7D ^ 5ovE(76> 67. -anali $./havhan, $./havhan, Sanjay -.ShindeG -odeling -odeling and Simulation of a /ontroller of 2rushless 3/ -otor for "lectric )ehicle )ehicle 'pplication,5/E ITS"H6?%, )olume8 9,Issue8 A 66. Shivraj Sdudhe, 'rchana & ThosarG -athematical -odelling 'nd Simulation !f Three $hase 23/ -otor Using -'T'24SI-UI5, -'T'24SI-UI5, International +ournal of 'dvances in "ngineering [ Technology, 5ov., (769. 6(.
9?
APPENDICES
A&&,"(i+ 1 Ar('i"o U"o o(i" for o22'#!#io"
int > [[ <) 7 [[ <0 7% _ digital0rite/,
9A
` else if >% _
digital0rite/, !0%G digital0rite/<, !0%G digital0rite2, > [[ <0 Y (>>% _ digital0rite/<, > [[ <0 7% _ digital0rite/, !0%G digital0rite/<, > [[ <0 7 [[ <) Y (>>% _ digital0rite/<, !0%G digital0rite/, !0%G digital0rite2, !0%G digital0rite2<,
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