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The performance of a power factor correction (PFC) converter fed voltage source inverter (VSI) supplying
permanent magnet brushless dc (PMBLDC) motor drive is analyzed for the variable speed operation of an air
conditioner (air-con). A single-phase diode bridge rectifier together with a boost converter is considered as a PFC
converter, which improves the quality of the current drawn from the ac mains. This converter is capable of supplying
a constant dc link voltage to VSI fed PMBLDC motor, even when the voltage of the ac mains fluctuates. The closed
loop control of PFC converter and VSI fed PMBLDC motor provides a better control and facilitates energy
conservation in ac distribution system, PMBLDC motor and the compressor of an air conditioner. The proposed
system is modeled and its simulated performance is presented and discussed.
22 IE(I) Journal-EL
Figure 1 Schematic diagram of PFC converter fed VSI-PMBLDC motor drive for air-con
close to its desired reference value (ω∗r ). The output of the PI controller I∗im(n) and I∗im(n − 1) are the outputs of voltage controller at nth and
is passed through a limiter to produce the reference torque (T∗). The (n −1)th sampling instants, respectively.
reference current generator outputs the three phase reference currents Kp1 and Ki1 are proportional and integral gains in PI voltage
(i∗a, i∗b, i∗c) from the reference torque and position signal. A PWM controler, respectively. Vdce(n) and Vdce(n − 1) are the dc link
current controller, which compares the reference currents (i∗a, i∗b, i∗c) voltage errors at nth and (n − 1)th instants respectively.
with winding currents (ia, ib, ic), is used to generate the switching The error in the dc link voltage at nth instant is given by :
signals of CC-VSI. In response to switching signals the CC-VSI im- Vdce(n) = V∗dc(n) − Vdc(n) (2)
presses PWM voltage across the motor terminals to produce desired
currents in the winding of the motor. These winding currents produce Reference Inductor Current
an electromagnetic torque to maintain the desired speed of the compres- The reference inductor current is estimated as :
sor of the air conditioner. The air conditioning load is taken to be a
constant torque load. i∗i = I∗im ud (3)
MODELLING OF THE SYSTEM Where
The different parts of the variable speed PMBLDC motor drive ud = vd ⁄ Vsm; vd = |vs|; vs = Vsm sin ωt, ω = supply frequency
system are modeled separately by using a set of first order in rad/sec.
differential equations, which are then integrated to get the com-
PWM Current Controller of PFC Converter
plete model of the system. The drive system is divided into
following sub-systems : The switching signal of the MOSFET of a PFC converter is
generated using PWM current control as :
Voltage Controller for dc Link
If k (i∗i − ii) > m (t) then S = 1 (4)
The error between reference (V∗dc) and sensed value of (Vdc) of dc
link voltage acts as an input to the PI voltage controller. The If k (i∗i − ii) <= m (t) then S = 0 (5)
output of the controller at nth sampling instant is given as :
Where
I∗im(n) = I∗im(n − 1) + Ki1 Vdce(n) + Kp1 (Vdce(n) − Vdce(n − 1)) (1) ii is inductor current, k is the gain factor for amplifying the current
Where error and m (t) is a triangular carrier waveform (20 KHz).
where
ia, ib, ic are the instantaneous values of three phase winding
currents of the motor and Sa, Sb and Sc are the switching functions
of the inverter. Figure 2 Variation of back emf functions and reference winding currents
of the PMBLDC motor with rotor position
PI Speed Controller
current controller compares the winding current with its reference
The difference between the reference speed, ω∗r(n) and rotor speed, value to produce switching function.
ωr(n) at nth instant is the input to the proportional-integral (PI) .If k1 ∆ia > m (t) then Sa = 1
(11)
speed controller. The output of the controller at nth sampling If k1 ∆ia <= m (t) then Sa = 0
instant is given as :
.If k1 ∆ib > m (t) then Sb = 1
(12)
T∗(n) = T∗(n − ) + Kp (ωe(n) − ωe(n − 1)) + Ki ωe(n) (9) If k1 ∆ib <= m (t) then Sb = 0
where .If k1 ∆ic > m (t) then Sc = 1
(13)
Kp and Ki are proportional and integral gains of the speed con- If k1 ∆ic <= m (t) then Sc = 0
troller respectively. ωe(n) is the speed error at nth sampling instant where
and is given by
∆ia = (i∗a − ia), ∆ib = (i∗b − ib), ∆ic = (i∗c − ic)
ωe(n) = ωr∗(n) − ωr(n). (10)
k1 is the gain required to amplify current error before comparing
ω∗r(n)is the reference speed at nth instant. ωr(n) is the rotor speed it with carrier waveform m (t).
of the motor at nth instant. Modelling of PMBLDC Motor and Load
The output of the PI speed controller (T∗(n)) is limited to a safe The first order differential equations used to model a PMBLDC
value (Tref) and is considered as reference torque. Since at any motor and load are as follows11 − 12 :
instant two phases of the motor carry current and develop torque, pix = (vxn − ix R − ex) ⁄ (Ls + M) (14)
the magnitude of the reference winding current in the star con-
nected motor will be p ωr = (P ⁄ 2) (Te − T1) ⁄ (J) (15)
where kb is the back emf constant. Te is the developed electromagnetic torque of the motor and may
be expressed as
Motor Winding Reference Current Generation
Te = (ea ia + eb ib + ec ic) ⁄ ωr (17)
The variation of back emf function (flux linkage) of each phase
of the motor and the corresponding reference current is shown in
Figure 2. Depending on the rotor position (θ), the reference This expression for the torque runs into the computational diffi-
∗ ∗ culty at zero speed, as the induced emfs are zeros. The back emfs
winding current pattern will be (+ I , 0, − I ) with the shape as
may be expressed as a function of position θ as shown in Figure
shown Figure 2.
2, which can be written as :
Current Controller of Inverter
ea = Kb fb (θ) ωr (18)
The switching signals for the inverter switches are generated by
the rotor position information and PWM current controller. The eb = Kb fb (θ) ωr (19)
24 IE(I) Journal-EL
Figure 3 Simulated performance of PFC converter fed PMBLDC motor for air-con
ec = Kb fc (θ) ωr (20)
Te = kb fa (θ) ia + fb (θ) ib + fc (θ) ic (21)
where
The set of first order nonlinear differential equations given by
fa (θ), fb (θ) and fc (θ) are functions of rotor position with a
equations 6, 7, 14, 15, 16 along with other essential expressions
maximum of plus or minus 1 are identical to induced emf in (such as rotor position information) form the model of the system.
trapezoidal shapes. Kb is back emf coefficient. These first order non-linear differential equations are solved using
Substituting equations (18) - (20) into equation (17), the torque the fourth order Rung-Kutta method of numerical integration for
expression becomes : the dependent variables ii, Vdc, ia, ib, ic, ωr and θ. The parameters
26 IE(I) Journal-EL
Table 1 Power quality of ac mains
Input End Converter Speed, (%) THD of ac Input Current Displacement Power Factor Crest Factor
rad/s Current (rms), A Factor (DF) (PF) (CF)
100 1.88 4.613 0.9998 0.9996 1.47
PFC Convertor
50 2.07 2.520 0.9998 0.9996 1.58
Diode Bridge Rectifier 50 115 3.970 0.9720 0.6380 2.72
nonlinear inverter-motor load especially during dynamic condi- conditioning Compressor.’ IEEE 34th IAS Annual Meeting, vol 2, October 1999,
p 840.
tions.
7. T J E Miller. ‘Brushless Magnet and Reluctance Motor Drive.’ Clarendon
ACKNOWLEDGEMENTS Press, Oxford, 1989.
Authors express their sincere thanks to the Department of Science 8. T Kenjo and S Nagamori. ‘Permanent Magnet Brushless dc Motors.’ Clarendon
and Technology (DST), Government of India, for providing the Press, Oxford, 1985.
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1194. APPENDIX
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