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Abstract—As a result of increasing the use of the be lapsed due to the high resistivity of both stainless steel
brushless direct current (BLDC) motor in many life and magnet. No damper windings are modeled because
applications instead of the traditional motors, it is they will reduce the magnetic force [3]. The stator current
important to list and specify the more for its controlling must be semi-square in order to synchronize with b-emfs
methods. This paper presents a number of speed and to make stable and higher torque at steady speed. The
current controlling methods as hysteresis band, variable operation of this motor is done when two phases are ON
dc-link bus voltage and pulse width modulation (PWM) state and the third is floating for every 60 electrical
controlling methods. These controlling methods have degrees [4-6].
proportional integral derivative (PID) gains which are Different simulation models are done by many
optimized by using particle swarm optimization (PSO) searchers to anatomize the behavior and operation of the
algorithm. By using fast Fourier transform (FFT) arrangement to give the accurate torque rate that is
analysis to study the controller behavior from frequency identifying with current and b-emfscorresponding to
analysis of the output signals and compute total harmonic suitable set point speed, they work on tuning PID
distortion (THD), it can specify the more useful parameters as based on Ziegler-Nicholas, genetic
controlling method. The framework is modeled and algorithm tuning methods and other work on adjusting
fabricated by using Matlab/Simulink. PID parameters by fuzzy optimized algorithm or using
Keywords—BLDC Motor Drive Model, FFT Analysis, fractional order PID controller and PID controller with
Mathematical Representations, Matlab/Simulink, PSO two degrees of freedom [7-13].
Algorithm. Speed control of BLDC motor takes a necessary role
in the modern control. In this paper, different control
I. INTRODUCTION strategies; hysteresis band control, variable dc-link
The BLDC motor applications turn into most requests and control and PWM control are performed and tested on the
the rapid rising such as aerospace, automotive, office BLDC motor and their PID gains are obtained by PSO
automation, household appliances and different industries. algorithm using MATLAB software program. The
It has important advantages like, long operation life, different controlling methods are tested and the results are
noiseless operation, high efficiency, high dynamic compared and discussed. Finally, the frequency analysis
response, wide speed range, low temperature and can for the motor current is implemented using FFT analysis
withstand vibrations and shock, this will get better and the THD is also computed to study the effect of
stability of the drive [1,2]. BLDC motors are really a type controlling methods.
of permanent magnet synchronous motors in spite of its
name. The commutation of the currents is done by II. MATHEMATICAL MODEL OF BLDC
electronically switches inverter which is driven by a DC MOTOR
power supply. The commutations are resolved by rotor BLDC motor modeling cans appear in the parallel attitude
position; this is detected either by sensorless mechanisms as a synchronous machine with three-phase windings. As
or position sensor. This motor type is consisting of any model multi-phase motors, one style of them is fed by
permanent magnets in the rotor and three phase three-phase voltage source as a BLDC motor is as shown
publicized windings in the stator that are wound as in Fig. 1. The peak voltage must not to be overtaken the
trapezoidal b-emfs. The induced currents in the rotor can
are needed for simplifying the later construction system whereTL is the load torque, k t is the torque constant, k f is
model. By disposal away one equation and ignoring one the viscous friction constant and J is the rotor moment of
variable using the following balance relationship: inertia.
ia +ib +ic =0 ….………………………………………… (3)
Then from above equations can modify the following
equations: III. SPEED CONTROL STRATEGIES OF BLDC
d R 2 1 MOTOR
i =− i + (vab − eab ) + (vbc −
dt a L−M a 3(L−M) 3(L−M) Comparing with other motor types, the BLDC motor has
ebc )………………………………………………….. (4) more intricate control algorithm. There are three general
d R 1 1
i =− i − (vab − eab ) + (vbc − methods to control the speed of BLDC motor as
dt b L−M b 3(L−M) 3(L−M)
mentioned before. Typically, dual-closed-loop speed
ebc )…………………………………………………..(5)
control is common in control system. The inner loop is
used to adjust the current as well as the torque to the
suitable value, while the outer loop is the speed loop,
www.ijaers.com Page | 120
International Journal of Advanced Engineering Research and Science (IJAERS) [Vol-5, Issue-2, Feb- 2018]
https://dx.doi.org/10.22161/ijaers.5.2.16 ISSN: 2349-6495(P) | 2456-1908(O)
that’s used to control the motor speed. The speed 3.1 Hysteresis Band Speed Control Method
controller is a portion of a closed-loop control that the This is the simplest closed-loop control method, where
actual speed is measured and draw an analogy with the the amount of the controlled speed is forced to pause
set-point speed to find the error speed which its treatment within a certain limit (hysteresis band) around a set-point
by the controller to provide the better signal to the plant to amount. Fig. 2 shows the schematic diagram of the BLDC
obtain the measured speed as more closed to the set-point motor hysteresis band speed control. As to control the
speed. speed of the motor, the motor will turn-off if the speed
arrives at a certain level over the set-point speed and back
turn-on when the speed declines below a certain level
below the set-point speed [2, 18].
Rotor
Rotor position
speed
Fig.2: Schematic diagram of the BLDC motor drive hysteresis band speed control system.
3.2 Variable DC-Link Voltage Speed Control Method reference current is derived from the reference torque by
By this method, the control of the DC bus voltage is used the following relationship [2]:
for obtaining the controlling speed. The motor voltage Tref
Iref = ..…………………………………………. (16)
kt
variation can be achieved by changing the PWM duty
The equivalent signal of the DC-link current is
cycle signal of the voltage controller (DC-DC converter)
synthesized from the three-phase stator currents then
[19]. The buck converter connection is used here which is
subtracted from the speed controller output. After that, the
converting the fixed voltage into a mutable voltage to
error signal is fed to the torque controller. The output
confirm the required speed of the BLDC motor speed
signal from the torque controller is limited by an applied
control drive. Fig. 3 shows the schematic diagram of the
voltage source. Then the final control signal is supplied to
BLDC motor drive variable dc-link speed control system.
the DC-DC converter to control the duty cycle using
The rotor speed is subtracted from reference speed and
PWM technique by comparing it to the triangular wave
the error signal is fed to the speed controller that its
which will give the voltage amplitude required to the
output is limited by the reference current. The value of the
inverter to maintain the desired speed.
PSO PSO
DC-link Stator
current currents Rotor
Convert to position
speed
Fig.3: Schematic diagram of the BLDC motor drive variable dc-link voltage speed control system.
3.3PWM Speed Control Method voltage but to modify the duty cycle of switches firing
The schematic block diagram of the command system signals as shown in Fig. 4. The BLDC motor speed
used in this method is same as that in Fig. 3 but the DC- directly changes by modulation the duty cycle of the
DC converter block is replaced by the Pulse Width inverter switches firing signals depends on the control
Modulation (PWM) block not to modify the dc bus error. In this control method, the motor will turn on and
PSO PSO
DC-link Stator
current currents
Rotor
Convert to position
speed
Fig. 4: Schematic diagram of the BLDC motor drive PWM speed control system.
IV. EMPLOYMENT OF PARTICLE SWARM Absolute Time weight Error (IATE) and Integrated of
OPTIMIZATION FOR BLDC MOTOR Time weight Square Error (ITSE). They are used to
CONTROL SYSTEM minimize the steady-state error, maximum overshoot,
Particle Swarm Optimization (PSO) is an investigative reference tracking error, settling time and rise time for the
algorithm first come in 1995 as a mohair amount by PSO-PID controller system. Here, is used multi-fitness
Russell Eberhart and James Kennedy [20]. They look that functions based on the (ISE) and overshoot (Mp)
the bees swarm will job altogether to detect an area with criterions as follow:
ultimate food. Each demarcation bee in the swarm Function for Fitness = min (ISE) + min (Mp) ……… (17)
seeking a casual area and gets the area for the ultimate where:
plenty food. The demarcation bee will then pass this ISE = ∫ e2 (t) dt…………………………………… (18)
location to the whole swarm then compare this Mp = max (n) – (nref) ……………………………… (19)
demarcation position of food among the other positions e(t) = n(t) – nref(t) …………………………………… (20)
informed by the other bees. Eberhart and Kennedy where n(t) is the output speed of the model and nref(t) is
convert the biological notions of the swarm attitude to the desired speed.
engineering converge by using the nature idea; a swarm Equations (21-22) shows the updating of velocity vi(t) and
will find the better solution from the swarm intelligence the current position xi(t) respectively for each swarm
[21]. particle. Then the main loop and the fitness function
In the engineering systems, the particles in the swarm are begin to perform their calculations for updating the
demarcation elements in the swarm accountable for position of particles. If the new amount is superior to the
moving to their personal best values (pbest) and the previous lbest then the new amount is adjusted to lbest.
swarm (global) best value (gbest) all the however Compatible, gbest amount is also updated as the better
continually seeking their current position to observe for lbest. The velocity of any rep can be adjusted by the
good values than what the block has. The blocks’ position equation:
is the location given a particular border for which to seek vik+1 = W ∗ vik + C1 ∗ R1 ∗ (lbest i − xik ) +
in it. Estimation of the position is completed during a C2 ∗ R 2 ∗ (gbest i − xik )………………………….. (21)
fitness function that responds the optimal solution. The
and the current position can be adjusted by the equation:
basic PSO algorithm is below as described in the
xik+1 = xik + vik+1 …………………………………. (22)
flowchart that is shown in Fig. 5 [22-24]. For PID
wherevik is the velocity at iteration k of particle i, xik is the
controller system, there always four fitness functions to
current position at iteration k of particle i, W is the weight
depict the system response which are Integrated Square of
of inertia which can be represented by equation (3.7)
Error (ISE), Integrated Absolute Error (IAE), Integrated
below, C1, C2 are positive constants of acceleration, R1
Start
Particle initialization
Reach
maximum
Iteration? Fig. 6: Simulink model of BLDC motor drive system.
Fig. 7: Simulink model of BLDC motor drive with hysteresis band speed controller.
Fig.11: Simulink model of BLDC motor drive with variable DC bus voltage dual loop PID controller
Fig. 15: Simulink model for BLDC motor drive with PWM dual loop PID controller.
Fig. 19: The frequency spectrum of current for hysteresis control motor at no load.
Fig. 20: The frequency spectrum of current for hysteresis control motor at full load.
Fig. 21: The frequency spectrum of current for variable dc-link voltage control motor at no load.
Fig. 22: The frequency spectrum of current for variable dc-link voltage control motor at full load.
Fig. 23: The frequency spectrum of current for PWM control motor at no load.
Fig. 24: The frequency spectrum of current for PWM control motor at full load.
VII. COMPARISON BETWEEN models and the FFT analysis results as shown in Table 4
CONTROLLING METHODS below:
The comparison is done with respect to the operation
and results from the output waveform of the performing