Paper On

DESIGN OF NOVEL CONTROL SCHEME FOR

FOUR-SWITCH THREE PHASE INVERTER FED PERMANENT MAGNET BRUSHLESS DC MOTOR DRIVE
Submitted in the partial fulfillment of the requirements for the Degree of Master of Technology in Electrical Engineering (Industrial Drives & Control) Rashtra Sant Tukadoji Maharaj Nagpur University, Nagpur

Under the supervision of Prof. K. RAMSHA (Superviser I) Prof. M.A. GAIDHANE (Superviser II) Submitted by:

Mr. SWAPNIL W. KHUBALKAR

Department of Electrical Engineering PRIYADARSHINI COLLEGE OF ENGINEERING, NAGPUR 2011-2012

DESIGN OF NOVEL CONTROL SCHEME FOR FOUR-SWITCH THREE PHASE INVERTER FED PERMANENT MAGNET BRUSHLESS DC MOTOR DRIVE
Mr. SWAPNIL W. KHUBALKAR PRIYADARSHINI COLLEGE OF ENGINEERING, NAGPUR Department of Electrical Engineering(M.tech) 2011-2012

ABSTRACT
This project proposes a macro-model to simulate of Four-Switch, Three-Phase Inverter (FSTPI) PM Brushless DC (PMBLDC) motor drive using switching functions. The proposed model uses inverter switching functions instead of actual circuits, and capable to show the whole steady state and transient performance of the drive. An entire BLDC motor drive including power conversion unit, BLDC motor, current and speed control system will investigate. The proposed model will simulate with the help of Matlab/Simulink software. Using this concept, it is possible to show the detailed electrical variables, such as phase current, line and phase voltages and diode an switch currents. Due to problems caused of eliminating two power switches, Direct Phase Current (DPC) control method is carried out.

the whole of a four-switch PMBLDC motor drive and is implemented in Simulink software.

LITERATURE SURVEY:
A. Simulation of PMBLDC Motor With Sinusoidal Excitation Using Trapezoidal Control Strategy ,The work reported concern with the simulation of a sensor controlled PMBLDC motor for Trapezoidal and Sinusoidal excitations. For both types of excitations Trapezoidal current control strategy is adapted. The simulated model is used to study the variation of speed, torque and current for various loads. A comparative study has been made for both types of excitations.[1] B. Modelling and Simulation of Closed Loop Controlled Buck Converter Fed Pmbldc Drive System , Permanent Magnet Brushless DC Motor (PMBLDC) is one of the best electrical drives that has increasing popularity, due to their high efficiency, reliability, good dynamic response and very low maintenance. This makes the interest of modeling an ideal PMBLDC motor and its associated Drive System in simple and lucid manner. In this paper the drive system is proposed with a buck converter topology. It has the advantages of reduced switching losses, low inductor power loss, reduced ripple by using a pi-filter, which in turn makes the DC link voltage to be stable[2] C. A simplified functional model for 3-phase voltage source Inverter using switching function concept , In this paper, a functional model for voltage-source inverter (VSI) using switching function concept is studied and the actual implementation of the model is proposed with the help of MATLAB Simulink. The switching function concept is a powerful tool in understanding and optimizing the performance of the static power converters / Inverters[3]

INTRODUCTION
Permanent Magnet Brushless DC (PMBLDC) motors are being used in automotive and household applications due to their greater power density, ease of construction. Moreover, for some applications it is important to reduce the manufacturing cost of the PMBLDC motor drive. Cost reduction of PMBLDC motor drive is obtained by reducing the number of power switches and also eliminating of the sensors. On the other hand, Prediction of an electric motor performance is necessary for the evaluation characteristics of motor designs and motor modeling.

STATE OF THE ART:

Simulation design is a preferred method in motor designing compared to building motor prototypes that is more costly and needs longer time. Available simulation softwares for electronic circuits or dynamic systems can be classified into two main categories: (1) circuit simulation programs such as PSpice (2) equation solver programs such as Matlab. These programs are not designed specifically for power electronic systems so that the users have to develop their own models to fulfill their needs. In this project, the well-known modeling based on functional switching concept will be used to model

RESEARCH OBJECTIVE:
In this research work , the primary aim to develop model based on functional switching concept which shall be used to model the whole of a four-switch BLDC motor drive and is implemented in Simulink software. Using this concept, it is also aimed to show he detailed electrical variables, such as phase current, line and phase voltages and diode and switch currents. To proceed for the work it is planned to do analysis of the system first to go for modeling in the next steps. It can be elaborated as follows: ANALYSIS OF FSTPI-BLDC MOTOR DRIVE. MODELING OF FSTPI-BLDC MOTOR DRIVE BASED ON SWITCHING FUNCTION CONCEPT: Modeling of the system may involve to develop the following model blocks: BLDC Motor Block. Current Control Block. Power Inverter Block. Speed Control Block. Switch and Diode Current calculator Block SIMULATION OF FSTPI-BLDC MOTOR DRIVE. The work then can be finalize by reviewing the results as per aim & objective decided. PROJECT SCHEME METHODOLOGY:

CONSTRUCTION

Fig. Disassembled view of a brushless dc motor

a) b)

1. 2. 3. 4. 5. c) d)

Figure. BLDC motor Transverse section

Fig. Phase back-EMF, current and position Hall effect sensors waveforms of a three-phase BLDC motor

Block diagram of switching function concept modeling for a four- switch pmbldc motor drive

Proposed block diagram for the system can be look as:

Above Fig. shows trapezoidal back-EMF, current waveforms and position Hall Effect sensor signals of a three-phase BLDC motor. To drive the motor with maximum and constant torque, the phase currents should be synchronized with the corresponding phase back-EMF voltages. Moreover, at each mode only two phases are conducting and another phase is inactive. However, in a four-switch inverter, the generation of 120 conducting current waveforms is inherently difficult due to its limited voltage vectors . In order to use the four-switch inverter topology for a three-phase BLDC motor, Direct Phase Current (DPC) control method that was developed by B.K. Lee is employed . With employing this method, the currents of phases A and B in two modes 2 and 5 are controlled independently. Therefore, the back- EMF voltage of phase C does not disturb the phase currents as shown in Fig below.

(a)Mode1and2

(b) Mode 3 and 4

where p is a differential operator (d/dt), ia, ib, ic are three-phase currents, a, b, c are flux linkages and ean, ebn, ecn are phase to neutral back emfs of PMBLDCM, in respective phases, R is resistance of motor windings/phase.

(c) Mode 5 and 6

If the permanent magnet inducing the rotor field ios in the shape of an arc, it requires that the inductances be independent of the rotor position, hence: La = Lb = Lc = Ls Considering the symmetry of the above matrix in addition to independence w.r.t the rotor position: Lab = Lba = Lbc = Lcb = Lca = Lac = M Above equation reduces to:

Fig. Current flow during two different modes in a fourswitch (FSTPI) BLDC motor drive

MODELING OF FSTPI-BLDC MOTOR DRIVE BASED ON SWITCHING FUNCTION CONCEPT

A. BLDC Motor Block

From above two equations we get:

Rearranging the equations, we have obtained equations in a form suitable for simulation. PMBLDC motor with new power converter topology is given by Krishnan and Shiyoung (1997). Four switch three phase brushless motor for low cost commercial applications is given by Lee (2003). The flux linkages are represented as,

The model of a BLDC consisting of three phases is explained by means of equations, since there is no neutral used, the sum of the three phase currents must add upto zero, i.e., ia+ib+ic = 0 ia+ib = - ic Considering all the three phases following equations are used to model the two pole three phase BLDC motor. The PMBLDCM is represented in the form of a set of differential equations given as,

where L is self-inductance/phase, M is mutual inductance of motor winding/phase. The inputs of PMBLDC motor block are terminal phase voltages and load torque. This block contains four parts including back- EMF generator, current calculation, torque calculation and speed and position determination. Back-EMF is a function of the rotor position ( r) having the amplitude of E=Ke m, that Ke is back-EMF constant and m is the mechanical speed of rotor. Based on the rotor

position; for example back-EMF of phase A can be expressed as:

motor drives with advanced control techniques. Consequently, we found that one switch leg (two switches) in the conventional six-switch converter, as shown in Fig. 1, is redundant to drive a three-phase BLDC motor. It results in the possibility of the fourswitch configuration instead of the six switches, as shown in Fig. 2.

Back-EMF phase voltage can be implemented by using of look-up table functions in Simulink. The phase currents can be obtained by revising of the differential equations as the following:

Fig. 1. Conventional six-switch three-phase BLDC motor drive systems.

Therefore, the electromagnetic torque (T e) is obtained from:

Where, ZP is the number of pole pairs. Electrical speed of the rotor (r) is determined from the following motion differential equation:
Fig. 2. Proposed four-switch converter topology for threephase BLDC motor.

That TL , J and B are load torque, inertial moment and friction constant respectively. Rotor position in electrical degree can be calculated from integration of the speed as: o is the initial position of the rotor. Hall effect position signals referring to Fig. can be obtained using function capabilities of Simulink as follows:

MODELING OF POWER INVERTER BLOCK.

Power Inverter Block This block generates the terminal phase voltages of BLDC motor using developed switching functions Da and Db. Terminal phase voltage vxn is obtained as: ex ; ix = 0 vxn = vxo vno ; ix 0 where vxo and vno are the terminal voltage of phase x and star point of the motor respectively that must be calculated. Equation means that, when the phase current is zero (silent phase), the terminal voltage is equal to phase back- EMF voltage. To obtain voltage vno, equation can be revised as:
v v = 0 0 0 0 0 0 0 0 + 0 v + + v v 0 0 0 0

u(1) is the position of rotor.

SIX switch Inverter Block

Until now, the reduced part converters have been applied mainly to ac induction motor drives However, these days, the BLDC motor is attracting much interest, due to its high efficiency, high power factor, high torque, simple control, and lower maintenance. Thus, we have been investigating the possibility of the reduced part converter for BLDC

Therefore, the voltage vno in each mode is as following:

Moreover, the terminal voltages vao and vbo are obtained as: v v = . D 2 v v = . D 2

that Vdc is the voltage across of DC-bus.

Simulink implementation

RESULT

Fig. graph of speed vs. time

REFERENCES:
[1] R. Somanatham , P. V. N. Prasad , A. D. Rajkumar ;Simulation of PMBLDC Motor With Sinusoidal Excitation Using Trapezoidal Control Strategy (ICIEA 2006) 0-7803-9514-X/06 [2] S. Prakash , R. Dhanasekaran , Syed Ammal ; Modelling and Simulation of Closed Loop Controlled Buck Converter Fed Pmbldc Drive

System Research Journal of Applied Sciences, Engineering and Technology 3(4): 284-289, 2011 ISSN: 2040-7467 [3] B. K. Lee , M. Ehsani ;A simplified functional model for 3-phase voltage source Inverter using switching function concept 0-7803-5735-3/1999 [4] A. Halvaei Niasar, A. Vahedi, H. Moghbelli; Analysis and Control of Commutation Torque Ripple in Four-Switch, Three-Phase Brushless DC Motor Drive, Proceeding of the 2006 IEEE International Conference on Industrial Technology (ICIT06), pp.239-246, India. [5] A. Halvaei Niasar, H. Moghbeli, A. Vahedi; "Modeling and Simulation Methods for Brushless DC Motor Drives", Proceeding of the First International Conference on Modeling, Simulation and Applied Optimization (ICMSAO'05), pp.05- 6/05-6, February 2005, Sharjah, U.A.E. [6] B.K. Lee, T.H. Kim, M. Ehsani; On the feasibility of four switch three-phase BLDC motor drives for low cost commercial applications: topology and control, IEEE Transactions on Power Electronics, Vol. 18, No. 1, pp. 164- 172, January 2003. [7] B.K. Lee and M. Ehsani; Advanced BLDC Motor Drive for Low Cost and High Performance Propulsion System in Electric and Hybrid Vehicles, 2001 IEEE International Electric Machines and Drives Conference, 2001, Cambridge, MA, June 2001, pp. 246-251. [8] B. K. Lee and M. Ehsani; A simplified functional model for 3-phase voltage-source inverter using switching function concept, in Conf. Rec. IEEE-IECON, pp. 462-467, 1999. [9] L. Salazar, G. Joos; PSPICE Simulation of Three-Phase inverters by Means of switching Functions, IEEE Trans. On Power Electronics, Vol. 9, No. 1,pp. 35-42 January 1994. [10] P. Pillay, R. Krishnan; Modeling, simulation, and analysis of permanent-magnet motor drives. II: The Brushless DC Motor Drive, IEEE Transactions on Industry Applications, vol. 25, No. 2, March/April 1989, pp. 274-279. [11] A. Halvaei Niasar, H.Moghbelli, and A. Vahedi,Sensorless control of a four -switch, threephase brushless DC motor drive,presented at the Iranian Conf. Electr. Eng. (ICEE 2007), May, Iran Telecommun. Res. Center (ITRC), Tehran, Iran. [12] Sanjeev Singh , Bhim Singh , A Voltage Controlled Adjustable Speed PMBLDCM Drive using A Single-Stage PFC Half-Bridge Converter, 978-1-4244-4783-1/January 2010