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Aim:
To study the open loop and closed loop speed control methods of a BLDC motor
Apparatus Required:
1.
2.
3.
4.
BLDC motor
DSP 2812
IPM (intelligent power module)
Hall sensor signal conditioner
5. Connectors
BLDC Motor Operation:
A permanent magnet AC motor, which has a trapezoidal back-emf, is referred to as
brushless DC motor (BLDC). The BLDC drive system is based on the feedback of the rotor
system at fixed points for communication of the phase currents. The BLDC motor requires quasirectangular shaped currents to be fed into the machine. Alternatively, the voltage may be applied
to the motor every 120 degrees, with current limit to hold the current within motor capabilities.
Because the phase currents are excited in synchronism with constant part of the back-emf,
constant torque is generated.
The electromagnetic torque of the BLDC motor is related to the product of a phase, back
emf and current. The back-emf in each phase are trapezoidal in shape and are 120 degrees
electrical phase shifted with respect to each other. A rectangular current pulse is injected into
each phase, so that current coincides with back-emf waveform hence the motor develops almost
constant torque.
Hall effect sensor provides the information needed to synchronize the motor excitation
with rotor position in order to produce constant torque. It detects the change in magnitude field.
The rotor magnets are used as triggers to hall sensor. A signal conditioning circuit integrated
within the hall switch provides a TTL compatible pulse with sharp edges.Three hall-effect
sensors placed at 120 degree apart are mounted on the stator frame. The three hall sensor digital
signals are used to sense the rotor position.
The functional block diagram, circuit diagram and the waveforms are as follows,
Circuit Diagram:
Three Phase Inverter
DSP TMS320F2812
Micro-2812 is a 16-bit (data lines) fixed point DSP trainer, based on Texas instruments
TMS320F2812 DSP Processor. This trainer enables the user to learn the basics of digital signal
processing & digital control along with basic DSP functions like filtering, PWM generation,
calculation of spectral characteristics of input analog signals. The trainer helps to perform real
time implementation of very complex algorithms, such as adaptive control, vector control, etc.,
The TMS320F2812 contains a C28xx DSP core along with useful peripherals such as ADC
Timer, PWM Generation are integrated onto a single piece of silicon. The Micro-2812 trainer
can be operated in two modes. In the mode:1 (serial mode) the trainer is configured to
communicate with the PC through serial port. In the mode:2 (stand alone mode), the user can
interact with the trainer through the IBM PC keyboard and 16 2 LCD display. From the DSP
processor, eight PWM waveforms (outputs) can be generated simultaneously by each event
manager, three independent pairs (six outputs) by the three full-compare units with
programmable dead bands, and two independent PWMs by the GP-timer compares
PWM Generation:
The PWM switching signals of the inverter switches are obtained by comparing a DC
reference signal with a fixed frequency triangular carrier wave. The DC reference will regulate
the average voltage applied to the motor by changing the duty ratio of the PWM signals to
control the speed of the motor.
Experimental procedure:
1. Open the Vi BLDC_2812 software,select the port and baud rate and click on connect
button to connect the trainer with PC
2. Select open loop control option and download the source code and execute the program
3. Select CW/CCW/Brake, the screen displays the speed plot along with the speed display
4. Change the set speed of the motor and observe the change in duty cycle of the Pulse
Width Modulation signal, Hall Sensor signals and phase current waveforms
5. Tabulate the duty cycle of the PWM signal for speed 1000, 2000 and 3000 RPM
Sl. No.
Ton
Toff
Speed in RPM
Set speed
Actual speed
Block Diagram for Closed loop Speed control
Experimental Waveforms :
Terminal Voltage, Back-EMF, Switching Signals and Phase Current waveforms of Phase A
The inputs to the comparator are Ramp signal and Control voltage signal Vc. The output of the
comparator goes high whenever V C is greater than the ramp signal. By varying the control
voltage VC , the duty cycle ratio D = T ON /T and hence the output voltage of the amplifier is
controlled. ThecontrolvoltageVCtothecomparatoristheoutputofthecontroller.Thecontroller
adjuststhecontrolvoltagedependingontheoutputoftheerroramplifier.
DynamicmodelingofDCservomotor
The DC motor can be modeled as a linear system, if the magnetic saturation is neglected
and the field flux is assumed to be constant. For this purpose, a permanent magnet DC motor is
used. Here the flux is produced by the permanent magnets which are constant.
The DC motor can be represented by the equivalent circuit shown below. The armature resistance
and inductance are represented as lumped parameters as R and L. The field current is assumed to
be constant. This sets the constant flux in the machine.
-------- (2)
-------- (3)
-------- (4)
The differential equation governing the mechanical system comprising armature and load is
J (d / dt) + B + TL = Te
where TL = Load torque . N.m
-------- (5)
In the closed loop control system block diagram, the amplifier is represented as the gain G, which
is constant. The output of the chopper will be maximum, when the control voltage V C equals
the
peak value of the Ramp V pst , since the MOSFET will be ON for the whole period and V O = V
dc i.e. when the duty cycle ratio is one. The output voltage varies linearly with the control voltage
VC as shown below.
.
=
=
Where G - Gain the power amplifier
Vpst - peak value of the Ramp (Saw tooth)
VC
- Control voltage
RESULT
Va(V)
Ia(Amps)
N (rpm)
T = kt Ia( Nm)
2nd Quadrant:
After switching off T1 and T2, before switching on the T3 and T4, the diodes D3 and D4 conducts, and
during this period the power flow is from load to source. In this case, the voltage is negative and current is
positive and hence power is negative as indicated in the four quadrant diagram. This mode of operation is
known as Regenerative braking.
3rd Quadrant:
In the third quadrant, switch T3 and T4 are switched ON, then both voltage and current are negative,
therefore the power flow is positive, but in reverse direction and the power flows from source to load, this
mode of operation is known as Reverse motoring.
4th Quadrant:
In the fourth quadrant, the switch T3 and T4 are switched off, the diode D1 and D2 conducts, the power
flows from load to source. In this case, the voltage is positive and current is negative and hence power is
negative as indicated in four quadrant diagram. This mode of operation is known as Regenerative braking.
Four quadrant operation of DC Motor:
T1 & T2 ON
D3 & D4 ON
Regenerative Braking
T3 & T4 ON
2nd
1st
3rd
4th
Reverse Motoring
Forward Motoring
Procedure:
Forward
Reverse
Select the forward option using I quadrant, after that, the following display as shown below
In the open loop condition, keep the motor runs at 1500 RPM condition and gradually vary the load
Select the reverse option using a II quadrant switch, now the display will be
D.C drive (CCW)
D.C.Y field = 60%
D.C.Y .Armature=50%
Actual speed = 0
Conclusions:
The voltage and current waveforms show that the full bridge inverter operates in all the four quadrants
of the Vo-Io plane. When the load is inductive the load current cannot change instantaneously with the
output voltage. i.e., if T1 and T2 are turned off at at, t = T/2, the load current would continue to flow
through D3, the DC source and D4. Similarly, when the devices T3 and T4 are turned off t = T, the load
current flows through D1 the DC source and D2.
The RMS Value of the output voltage is
T/2
Vo = [(2/T) Vs/2 dt]1/2 = Vs
0
Fourier series representation of instantaneous output voltage, Vo (t)
A = Vs
= Vs / 2
T1
C1,
1000f
Vdc
P1
Load
P2
C2,
1000f,
T2
P1
Vdc
T1
T2
T/2
P2
T1
T
Vdc/2
Vo
VVdc/
dc/
2
dc/2
T/2
T/2
- Vdc/2
Io
Vdc/2R
- Vdc/2R
P2
T1
T2
T/2
T1
T
Vdc/2
Vo
VVdc/
dc/
dc/22
T/2
- Vdc/2
Io
T
T/2
D1
D3
T1
T3
0
VS
A
D4
Load
D2
T4
T2
VAO Vs/2
T1
T4
-Vs/2
T1
T
VBO
Vs/2
T2
T3
T2
-Vs/2
- Vs
IL
Vs/R
-Vs/R
VAO
Vs/2
T1
T4
T1
-Vs/2
VBO
Vs/2
t
T2
T3
T2
-Vs/2
T
t
- Vs
IL
T1,T2
T3,T4
t
D1,D2
D3,D4
Fig. 1
Theory of V/F Control:
The AC induction motor is a workhorse of an adjustable speed drive systems. The most popular type is
the 3-phase, squirrel-cage AC induction motor. It is maintenance-free, lower noise and efficient motor.
The stator is supplied by a balanced 3-phase AC power source. The synchronous speed ns of the motor is
given by Equation (1)
ns = 120f s / p . (1)
Where, fs is the synchronous stator frequency in Hz, and p is the number of stator poles. The load torque
is produced by slip frequency. The motor speed is characterized by a slip s, given by the Equation (2).
The relation between fs, s and p is given in Equation (3)
. (3)
Where, nr is the rotor mechanical speed and nsl is the slip speed, both in rpm.
Principle of Volts per Hertz (V/F) Control
Changing the supply frequency or the number of poles as given by the Equation (1) can vary speed of an
induction motor. Changing the number poles is cumbersome procedure and hence it is not in practice.
Changing the supply frequency is the best way to vary the speed but as per the Equations (5) and (7)
changing the frequency alone will affect the air-gap flux, which ultimately affects the torque production
capability.
Volt per Hertz control methods is the most popular method of Scalar Control; it controls the
magnitude of the variable like frequency, voltage or current. The purpose of the volt per hertz control
scheme is to maintain the air-gap flux of AC Induction motor constant in order to achieve higher run-time
efficiency and also to maintain the torque at all speeds. In steady state operation the machine air-gap flux
is approximately related to the ratio V/fs, where V is the amplitude of motor phase voltage and fs is the
synchronous electrical frequency applied to the motor. The base point of the motor defines the
characteristic as shown in Figure 8. Below the base point the motor operates at optimum excitation
because of the constant V/f ratio. Above this point the motor operates under-excited because of the DCBus voltage limit. A simple close-loop volts/hertz speed control for an induction motor is the control
technique targeted for low performance drives. This basic scheme is unsatisfactory for more demanding
applications where speed precision is required.
Since the development of power-electronics and microcontrollers a new way of controlling the motorspeed has been introduced. A three-phase inverter topology is shown in Figure 9. This topology can be
used for changing the frequency and / or the amplitude voltage applied to the motor 3-phase stator
windings. With this controllable frequency and voltage it is possible to achieve a high efficient speedcontroller for induction motor. One thing to consider is the torque on the shaft. If the voltage applied to
the motor changes, the frequency also has to change to ensure sufficient torque on the shaft. Looking at
the torque, expressed from the power (P) and the speed the following equations are derived:
Power P 2 .nr T / 60
Torque T
. (5)
E = 4.44 f s m
.. (6)
= k*
m = k * E / fs
. (7)
Equation (7) implies that if the ratio between the applied stator voltage and the frequency are kept
constant the torque also stays constant. These terms are the ones used to implement the speed controller
for the induction machine.
boosting the voltage at low frequency as shown in Fig. 2. Three induction motor is fed from a three phase
PWM inverter whose switching is controlled by V/F technique as shown in Fig. 3.
Fig. 3
Connection procedure:
1.
2.
3.
4.
Experiment procedure:
1. Switch on the power ON/OFF switch in the IGBT based power module and the controller module
2. Switch ON the MCB in the power Module
3. Vary the VARIAC from minimum to maximum position and supply AC voltage gradually to the
power module
For open loop:
1.
2.
3.
4.
5.
Tabular column:
S.no
Frequency, Hz
Tabular column:
S.no
Conclusions:
Kp
Ki
Circuit diagram:
Fig -1
Pulse Width Modulation (PWM) techniques:
1.
2.
Sinusoidal PWM
Trapezoidal PWM
Connection Procedure:
1.
2.
3.
4.
5.
Experiment Procedure:
1. Switch on the Inverter control module and MOSFET power module & reset it initially.
2. Set the reference sine wave using reference wave selection switch and set its amplitude and
frequency.
3. Set the PWM pulse amplitude and frequency of carrier wave.
4. Switch on the SPDT switch to release PWM pulse to the power module.
5. Check the test waveform in every test points using DSO.
6. Connect the R-load first and observe the output AC voltage.
7. Then connect the inductive load in series with the resistive load.
8. An output AC voltage obtained across the load is observed.
9. Also, observe the output voltage harmonic spectrum using FFT mode in DSO
10. Calculate the amplitude of the output voltage.
Tabular column:
Sl. No.
Sine wave
Amplitude (V)
Ar
Conculsions:
Carrier wave
Amplitude (V)
Ac
Modulation index
(Ma)