Você está na página 1de 5

2009 International Conference on Advances in Recent Technologies in Communication and Computing

Low-Cost High Performance Brushless DC Motor Drive for Speed Control


Applications

R.Shanmugasundram, Member, IEEE K.Muhammed Zakariah, Senior Member, IEEE


Electrical and Electronics Engineering Electrical and Electronics Engineering
Sri Ramakrishna Engineering College SNS College of Technology
Coimbatore, Tamilnadu, India Coimbatore, Tamilnadu, India
rss_is@yahoo.com

N. Yadaiah, Senior Member, IEEE


Electrical and Electronics Engineering
JNTU College of Engineering
Anantapur, Andrapradesh, India
svpnarri@yahoo.com

Abstract— Brushless DC (BLDC) motor are now a days control scheme is discussed in section VI, and experimental
becoming popular in battery operated vehicles, fuel pumps, results in section VII.
medical equipments, printers and in many other domestic,
industrial and aerospace applications because of its light weight, II. MODELLING OF BLDC MOTOR
high operating speed and excellent speed-torque characteristics. The modeling of BLDC motor drive system is based on
However, BLDC motor requires complex and expensive high- the following assumptions.
speed driver and converter circuits to perform electronic All the stator phase windings have equal resistance per
commutation and suitable control circuits for implementing
phase and constant self and mutual inductances.
control techniques. This paper presents a compact, economical
high-speed driver and converter circuits and a pulse width
1. Power semiconductor devices are ideal.
modulation (PWM) control strategy implemented in a versatile 2. Iron losses are negligible.
Aduc812 micro controller for achieving better performance. 3. The motor is unsaturated.
The results presented shows that this experimental set up will Based on the above assumptions, the three phase input
yield better performance. voltages [2] are expressed as follows.
dia
Keywords-BLDC drive; high performance; low cost; PWM va = Ria + L + ea (1)
dt
I. INTRODUCTION di b
v b = Ri b + L + eb
Brushless DC motors used in variety of applications dt  (2)
require low-cost, compact, high performance drive system
for smooth operation over a wide speed range. The BLDC di
motor is preferred now days for many applications because v c = Ri c + L c + ec
of its reduced size, weight, excellent speed-torque
dt  (3)
characteristics, less maintenance and spark less operation. The Electro magnetic torque is expressed as
But the BLDC motor requires expensive built-in position 1
sensors to sense the position of the rotor and generate gating Te = ( e a i a + e b ib + e c i c )  (4)
signals for the semiconductor switches in the converter in ω
order to perform electronic commutation by decoding the The electromagnetic torque can also be expressed as
position sensor signals with the complex decoder and driver 2 EI
circuits [1], [3], [4]. The conventional drive circuits are Te = (5)
expensive, bulky and more complex. This paper proposes a ω
low-cost, compact, high performance BLDC drive system
employing hybrid power IC and low cost microcontroller Where E = ea = eb = ec  and  I = i a = ib = i c
and sensor circuits. This paper is organized as follows.
Modeling of BLDC is described in section II, experimental The electromagnetic torque can be expressed in terms of
set up is discussed in section III, features of ADUC812 mechanical parameters as
digital controller is discussed in section IV, PWM control dω
technique is discussed in section V, implementation of speed Te = TL + J + Bω  (6)
dt

978-0-7695-3845-7/09 $26.00
$25.00 © 2009 IEEE 456
DOI 10.1109/ARTCom.2009.66
where va, vb, and vc are the stator phase winding IV. ADUC812 DIGITAL CONTROLLER
voltages of phase a, b and c respectively, ea, eb , and ec are The die-size, low-cost Aduc812 microcontroller [5], [11]
the back-emfs of phase a, b and c respectively, ia, ib, and ic has a fully integrated 12-bit data acquisition system
are the phase currents of phase a, b and c respectively, TL is incorporating multi-channel ADC, dual DAC and
the load torque, J is inertia, ω is angular speed, B is viscous programmable 8-bit microcontroller control unit on a single
damping coefficient. chip. The programmable 8051-compatible core is supported
III. EXPERIMENTAL SET UP by 8K bytes Flash / EE program memory, 640 bytes Flash /
EE data memory and 256 bytes data SRAM on-chip. The
The experimental set up shown in Fig. 1 consists of 8051-Compatible core with an internal clock source of 12
motor-generator set up, speed, current and voltage measuring MHz has three 16-Bit Timer/Counters, 32 Programmable I/O
sensor circuits, power converter and digital buffers to lines out of which port 3 has high Current Drive Capability
interface digital controller with power circuit. High-speed and Nine Interrupt Sources. The functions of the
opto-coupler MOC 7811 and disk with equally spaced slots microcontroller include determining the rotor position from
near the outer periphery attached to the shaft of the motor, is the hall sensor signals so as to switch ON the required power
used to generate pulses of accurate width for the semiconductor devices at the appropriate rotor positions to
measurement of speed. The pulse generated is applied as an produce a continuous unidirectional torque, generation of
external clock for the counter so as to accurately measure the PWM signal, measurement of speed, line currents and phase
speed. The low-cost, reliable power hybrid IC voltages. The microcontroller not only reduces the cost and
IRAMA20UP60B is integrated with high speed driver and size of the circuit but also it performs computation at greater
IGBT inverter with thermal overload and short-circuits speed due to its high internal clock frequency and
current limit protection circuits. The hybrid power module architecture design.
IC replaces the conventional bulky and expensive IGBT
inverter and associated isolation and driver circuits. This IC V. PWM CONTROL TECHNIQUE
requires low voltage nearly 3V and 0V to turn OFF and turn In the proposed pulse width modulation control technique
ON respectively. Moreover the effects of electromagnetic [12], the duty cycle of the 20 KHz generated by the
interference and noise signal are completely eliminated. The microcontroller is varied to control the current and average
high-speed digital buffer IC 74HCT244 is used to interface voltage in the windings and hence the torque produced by
microcontroller with hybrid power module IC and hall the motor. The motor if connected to load initially has to be
sensor circuit. The hall sensor signals are applied as input to started with maximum duty cycle in order to produce
the microcontroller through buffer IC and the gating signals sufficient starting torque by allowing sufficient starting
generated by the microcontroller for the IGBT switches are current in the windings. The choice of 20 KHz PWM signal
also applied through buffer IC. Since Port 3 of is made because of the absence of acoustic noise during the
microcontroller has high output driving capability, pins P3.0 motor operation. The expression for average voltage applied
to P3.5 are used for the generation of gating signals. The hall across the winding is given by equation 8. The timer
sensor signals are applied to input port 1 pins P1.0 to P1.2 continuously generates PWM signal while the
through buffer IC. The PWM signal is generated at pin 3.6 microcontroller is executing the main program. The main
using timer1. Counter 0 is used for accurate measurement of advantage of PWM control over resistive power controller is
speed. The program is written for microcontroller using Keil that variable power can be supplied to the motor by varying
software and the output hex file generated is downloaded the duty-cycle without much power loss. Therefore, the
from personal computer to microcontroller. system efficiency is high, while delivering average current in
IGBT Power Hybrid Inverter
the form of pulses to the motor.
+
t on
T1 T3 T5 Motor Generator Set
% Dutycycle = *100 (7)
DC Input Voltage

A
B
T
C Vo ( avg ) = Dutycycle * Vdc (8)
T4 T6 T2 Signal Conditioning Hall Sensor & Speed
_ and Filter Circuits Sensor Signals Where ton is turn on time, T is total time period of PWM
signal, Vdc is the dc input voltage applied to the bridge and
Back Emfs
Gate Driver (Ea, Eb, Ec) Vo (avg) is the average dc voltage applied across the
& winding.
Phase Currents
(Ia, Ib, Ic)
VI. DESCRIPTION OF SPEED CONTROL OF BLDC DRIVE
The flowchart shown in Fig. 2 and Fig. 3 describes the
Personal ADUC812 algorithm implemented in the digital controller for
Computer Microcontroller
controlling the speed of BLDC motor. Initially, initialize the
Figure 1. Experimental set up port1 of microcontroller as input port to identify the rotor
position by reading hall senor signals and port 3 as output

457
port for generating control signals for the IGBTs and a pulse Timer 0 interrupt
width modulated signal. The control signals are given to subroutine

IGBTs through their respective AND gate which has one of


the input as PWM signal. The driver circuits are designed to
operate at high frequencies. The duty cycle of the IGBTs is Load Timer
varied to vary the average applied voltage across the winding Is PWM output YES Register with OFF
time and set PWM
and hence the speed of the motor. The duty-cycle is initially is HIGH?
signal LOW
set more than 50% so as to allow sufficient current through
the motor windings to start and run the motor. The time NO

period of the PWM signal is chosen such that it is greater


than the time constant of the motor so as to allow sufficient Load Timer Register with ON
time and set PWM signal HIGH
current through the windings in order to produce the required
torque during the normal operation [6], [7]. The PWM signal
is generated at one of the pins of port 3 of the
Return
microcontroller using timer 0. The tolerance level which is
the error signal when set speed and actual speed are same has Figure 3. Timer interrupt service Subroutine for the generation of PWM
to be chosen close to zero. The microcontroller measures the Signal
actual speed and computes the error which is the difference
between set speed and actual speed. Whenever the set speed
is greater than actual speed, error is positive and the VII. RESULT
microcontroller increases the duty cycle of PWM signal so as The ideal phase currents, phase voltages, torque and hall
to bring the actual speed same as set speed. Whenever the sensor signals are shown in Fig. 4 and Fig. 5. The sequence
actual speed is greater than set speed, error is negative and in which the devices are turned ON as the rotor position
the microcontroller decreases the duty cycle of PWM signal changes along with their corresponding hall sensor signals
so as to bring the actual speed same as set speed. Whenever are listed in the commutation Table 1. Initially the driver is
the actual speed is same as set speed, error will be within made to operate without PWM signal and the observed hall
tolerance level and the microcontroller does not change the sensor signals and phase voltages waveforms are shown in
duty cycle of PWM signal so as to maintain the actual speed. Fig. 6 and Fig. 7. Then the driver is made to operate with
PWM signal and the observed PWM signal, phase currents,
Start phase voltages and dc supply current waveforms are shown
in Fig. 8 and Fig. 11. It is found that the speed of the motor
varies smoothly when the duty cycle of the IGBTs in the
Configure input and output converter is varied and the motor produces required torque to
port, ADC and Timer 0 in
auto-reload mode and set
drive the load.
the initial speed and duty- Ea
cycle and Timer 0 value
Eb

Read the hall sensor input signals and Ec


Turn ON and OFF the appropriate
devices for the current duty-cycle Ia

Ib
Measure the Actual Speed and compute
the error signal = set speed – actual speed
Ic

T
T5,T6 T6,T1 T1,T2 T2,T3 T3,T4 T4,T5 T5,T6 T6,T1 T1,T2 T2,T3 T3,T4 T4,T5
Decrease the -ve Check whether +ve Increase the 0o 30o 60o 90o 120o 150o 180o 210o 240o 270o 300o 330o 360o
error is +ve, -ve duty-cycle
duty-cycle
or within the Figure 4. Ideal back-emfs and phase currents of a 3 phase BLDC motor [
top to bottom: Phase Voltages (Ea, Eb, and Ec), Line Currents (Ia, Ib, and
Ic) and Torque (T)]

No change in the duty-cycle The step change in the input reference speed from 700 to
1600 rpm and the corresponding output speed response is
shown in Fig. 12 -Fig.13. The output speed response reveals
that there is no overshoot, output responds faster to the
change in the reference speed, zero steady state error and the
Figure 2. Flowchart for the implementation of speed control
system does not require conventional controllers. The
photograph of the hardware set up is shown in Fig. 14.

458
H1

5 V/div Voltage
H2

H3

T5,T6 T6,T1 T1,T2 T2,T3 T3,T4 T4,T5


0o 30o 60o 90o 120o 150o 180o

Figure 5. Hall sensor signals 40 µs/div time

Figure 8. PWM Signal with 70 percent duty cycle


TABLE I. COMMUTATION TABLE

Hall Sensor

Current
Signals Conducting Ia
Rotor Position
H1 H2 H3 Devices

0o- 30o 180o- 210o 0 1 0 T5, T6


Ib
o o o o
30 - 60 210 - 240 0 1 1 T6, T1

5 A/div
60o- 90o 240o- 270o 0 0 1 T1, T2
Ic
90o- 120o 270o- 300o 1 0 1 T2, T3

120o- 150o 300o- 330o 1 0 0 T3, T4

150 - 180 o o o
330 - 360 o
1 1 0 T4, T5 4 ms/div time

Figure 9. Phase Currents[Ia, Ib, and Ic]

H1 Ea
Voltage
2 V/div

H2 Eb

H3
36 V/div

Ec

2 ms/div time
Figure 6. Hall Sensor Signals [ top to bottom: H1, H2, and H3] 4 ms/div time

Ea
Figure 10. Phase Voltages with PWM [top to bottom: Phase a, b,and c]
36 V/div

Eb
Current

Ec
5A/div

4 ms/div time 500 µs/div time


Figure 7. Phase Voltages without PWM [top to bottom: Phase a, b,and c]
Figure 11. DC Supply Current

459
APPENDIX
Parameters Of BLDC Motor
Rated Voltage 36V
Speed

Rated Current 5A
No. of Poles 4
No. of Phases 3
Rated Speed 4000 RPM
Rated Torque 0.42 Nm
time (ms) Torque Constant 0.082 Nm/A
Figure 12. Step change in the input reference speed from 700 to 1600 rpm Mass 1.25 KG
with 50% load Inertia 23 KGM2 * 10-6
Terminal Resistance 0.38 Ω
Line-Line Inductance 1 mH

ACKNOWLEDGMENT
Speed

We are extremely thankful to the management of Sri


Ramakrishna Engineering College and JNT University for
providing all necessary facilities, guidance and support for
carrying out this work.
time (ms)
Figure 13. Output speed response for the step change in reference speed REFERENCES
from 700 to 1600 rpm with 50% load [1] T. Kenjo, "Permanent magnet and brushless dc motors", Oxford, 1985
[2] T.J.E. Miller, "Brushless permanent magnet and reluctance motor
drive", Oxford, 1989
IGBT Power Inverter IC
[3] D. Lerdman, “Electronically Commutated Motor,” U.S. Patent 4 169
990, Oct. 2, 1979.
[4] D. M. Erdman, H. B. Harms, and J. L. Oldenkamp, “Electronically
commutated dc motors for the appliance industry,” in Proc. 1984
IEEE Ind.Applicat. Soc. Ann. Mtg., 1984, pp. 1339–1345.
[5] F. Rodriguez, A. Emadi, "A Novel Digital Control Technique for
Brushless DC Motor Drives," IEEE Trans. on Industrial Electronics,
vol. 54, no. 5, pp. 2365-2373, May 2007.
[6] C. Berendsen, G. Champenois, and A. Bolopion, “Commutation
strategies for brushless dc motors: Influence of instant torque,” IEEE
Trans. Power Electron., vol. 8, no. 2, pp. 231–236, Apr. 1993.
Motor-Generator Set up [7] D.Erdman, US Patent No.4654566, “Control system, method of
operating an electronically commutated motor, and laundering
apparatus,” March 1987.
[8] R. Calson, M. Lajoie-Mazenc, and J. Fagundes, “Analysis of torque
Figure 14. Photograph of Hardware Set up ripple due to phase commutation in brushless dc machines,” IEEE
Trans. Ind. Appl., vol. 28, no. 3, pp. 632–638, May/Jun. 1992.
[9] S. J. Park, H. W. Park, M. H. Lee, and F. Harashima, “A new
VIII. CONCLUSION approach for minimum-torque-ripple maximum-efficiency control of
BLDC motor,” IEEE Trans. Ind. Electron., vol. 47, no. 1, pp. 109–
The proposed low cost, compact BLDC drive using a 114, Feb. 2000.
versatile Aduc812 microcontroller is designed, implemented [10] D. K. Kim, K. W. Lee, and B. I. Kwon, “Commutation torque ripple
and tested. The duty cycle is varied and the variation in the reduction in a position sensorless brushless dc motor drive,” IEEE
speed and torque is measured and the performance of drive is Trans.Power Electron., vol. 21, no. 6, pp. 1762–1768, Nov. 2006.
found to be excellent. It is also found that this drive less is [11] J. Shao, D. Nolan, M. Teissier, and D. Swanson, “ A Novel
micricontroller based sensorless brushless DC motor drive for
affected by electromagnetic interference and noise signals. automative fuel pumps,” Conference Record of 37th IAS Annual
The output speed is found to respond faster for change in the Meeting, pp. 2386-2392, 2002.
input reference speed. Several protective functions like over [12] Y.S.Lai, F.S. Shyu and Y.H.Chang, “Novel pulse-width modulation
current protection, over voltage, and thermal protection to with loss reduction for small power brushless DC motor drives,”
protect the BLDC drive can also be implemented in the Conference Record of the IEEE IAS Annual Meeting, pp. 2057-2064,
Aduc812 microcontroller. This entire drive can be put in a October 2002.
compact module and it can be used for speed control [13] R. Shanmugasundram, C. Ganesh, N. Yadaiah, K.J. Poornaselvan,
K.Muhammed Zakariah, “Compensator Design by Pole-Zero
applications. adjustment for a Typical Position Control System,” 4th International
Conference on Information and Automation for Sustainability,
pp.19-24, Dec.2008.

460

Você também pode gostar