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odern intelligent motion applications demand accurate speed and position control. Many machine and control schemes have been developed to improve the performance of BLDC motor drives. Some simulation models based on statespace equations, Fouries-transforms, d-q axis model and variable sampling have been proposed for the analysis of BLDC motor drives. Limitations of brushed DC motors overcome by BLDC motors include lower efficiency and susceptibility of the commutator assembly to mechanical wear and consequent need for servicing, at the cost of potentially less rugged and more complex and expensive control electronics. BLDC motors offer better speed versus torque characteristics, high dynamic response, high efficiency, long operating life, noiseless operation and higher speed ranges [1]. Due to their favorable electrical and mechanical properties, BLDC motors are widely used in servo applications such as automotive, aerospace, medical, instrumentation, actuation, robotics, machine tools and industrial automation equipment. Many machine design and control schemes have been developed to improve the performance of BLDC motor drives. The model of motor drive has to be known in order to implement an effective control in simulation. Furthermore, fuzzy logic controllers (FLCs) have been used to analyze BLDC motor drives [2]. In
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Figure 2. Diagram for BLDC motor systems Figure 5. Structure of fuzzy logic controller
Fig. 3 shows the electrical diagram of BLDC motor. It consists of a phase resistance (R) and an inductance (L) respectively.
Figure 6. (a) triangle, (b) trapezoid, and (c) bell membership function
Fig. 7 illustrates the membership function of fuzzy logic controller that used the fuzzification of two input values and defuzzification output of the controller. There are seven clusters in the membership functions, w i t h seven linguistic variables defined as: Negative Big (NB), Negative Medium (NM), Negative Small (NS), Zero (Z), Positive Small (PS), Positive Medium (PM), and Positive Big (PB).
Fig. 5 shows the basic structure of a fuzzy logic controller. Fuzzy logic linguistic terms are most often expressed in the form of logical implications, such as IfThen rules. These rules define a range of values known as fuzzy membership functions [4]. Fuzzy membership functions may be in the form of a triangle, a trapezoid, a bell as shows in fig. 6, or of another appropriate form [6].
A sliding mode rule-base, used in the fuzzy logic controller is given in Table 1. The fuzzy inference operation is implemented by using the 49 rules. The min-max compositional rule of inference and the center of gravity method have been used in the defuzzification process [5]. If p1 is NB and p2 is NB Then out is PB, If p1 is NB and p2 is NM Then out is PB, If p1 is NB and p2 is NS Then out is PM, If p1 is NB and p2 is Z Then out is PM,
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Figure 8. Matlab simulation diagram of fuzzy logic control TABLE I. RULE BASE OF FUZZY LOGIC CONTROLLER
(3)
The trapezoidal shape functions with limit values between +1 and -1:
C. Simulation structure of fuzzy in Matlab Fig. 8 shows the Matlab simulation diagram of the Fuzzy logic controller. The developed Matlab model is use to observe the phase current waveforms, speed, torque and maximun current. III.
MATHEMATICAL EQUATIONS
(4)
The expression of electromagnetic torque:
Te = ke ( fa () ia + fa () ib + fc () ic )
(5)
The trapezoidal back-EMF wave forms are modeled as a function of rotor position so that rotor position can be actively calculated according to the operation speed. The back EMFs are expressed as a function of rotor position ().
(1)
Where ke is back-EMF constant, fa ( ) , fb ( ) , and fc ( ) are functions of rotor position.
(7) (8)
(2)
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IV. RESULTS
A. MATLAB Simulations
In order to validate the control strategies as described, digital simulations were carried out on a converter f o r a DC motor drive system using MATLAB/SIMULINK, w h e r e the parameters used for the DC motor drive system is given in table II.
TABLE II. THE PARAMETER OF DC MOTOR DRIVE SYSTEM
Fig. 10 shows the dynamic responses of the speed, torque and Imax, respectively. The reference value of maximum current (Imax) is computed from the generated constant torque reference.
Armature resistance
(Ra)
Armature inductance (La) Back e.m.f constant (K) Mechanical inertia (J) Friction coefficient (B) Rated armature current (Ia)
Fig. 9 shows the phase current waveforms based on the rotor position at 4000 rpm. The phase difference between Ia, Ib and Ic is approximately 1200. The peak current value is approximately 9 A for all Ia, Ib and Ic.
Figure 10. Speed of BLDC motor, Electromagnetic torque and maximum current (Imax)
Fig. 11 shows the speed response for the FLC model developed in Matlab. The speeds reach the desired value of 4000 rpm in 5ms.
Figure 11. Speeds responce for FLC Figure 9. Phase current waveforms based on the rotor position at 4000 rpm 114202-6464 IJECS-IJENS April 2011 IJENS
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International Journal of Electrical & Computer Sciences IJECS-IJENS Vol: 11 No: 02 Fig. 12 demonstrates the speed response for FLC on load change that BLDC motor manage to set back to 4000 rpm successfully when the load torque changes occurs either load increased or decrease.
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Fig. 14 shows the experimental results of speed of BLDC motor, Electromagnetic torque and maximum current (Imax) by CCStudio when the rotor speed is 4000 rpm.
B. Experimental Results A TMS320F2808 DSP and BLDC motor was used to observe the speed response and the phase current waveforms. Fig. 13 shows the experimental results for phase current waveforms of the BLDC motor via an oscilocope when the rotor speed is 4000 rpm. The phase difference between Ia, Ib and Ic is approximately 1200 and the value of the current magnitude for Ia, Ia and Ic is about 9A.
Figure 14. Speed of BLDC motor, Electromagnetic torque and maximum current (Imax)
Fig. 15 shows the BLDC rotor position as indicated by the Hall effect sensor outputs of the BLDC motor as observed on an oscilloscope when the rotor speed is 4000 rpm. The phase difference between the 3 waveforms is about 1200.
Figure 13. Phase current waveforms based on the rotor position at 4000 rpm 114202-6464 IJECS-IJENS April 2011 IJENS
Fig. 16 shows the speed response of the BLDC motor for the experimental set observed by Code Composer Studio (CCStudio). The speed of the motor reached the desired value or steady state at approximately 5ms. A very small value of
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International Journal of Electrical & Computer Sciences IJECS-IJENS Vol: 11 No: 02 CCStudio overshoot and the experimental result, is about 50 rpm from the desired value.
Technique for the Variable Sampling Effect of BLDC Motor Applications, IECON 2007, pp. 11751179, 2007 [5] A. Rubai, A. Ofoli, and M. Castro, dSPACE DSP-Based Rapid Prototyping of Fuzzy PID Controls for High Performance Brushless Servo Drives, IEEE Industry Applications Conference, 41st IAS Annual Meeting, page(s):13601364, 2006
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[6] [7]
B. Sing, A.H.N. Reddy, and S.S. Murthy, Gain Scheduling Control of Permanent Magnet Brushless dc Motor, IE(I) Journal-EL 84, 52-62, 2003 Tan Chee Siong, Baharuddin Ismail, Siti Fatimah Siraj, M.Fayzul, Analysis of Fuzzy logic controller for permanent magnet BLDC Motor Drives, 2010 IEEE Student Conference on Research and Development, ScoRED 2010.
V. CONCLUSION As a conclusion, the increasing demand for using fuzzy logic as a controller for BLDC permanent magnet motor in modern intelligent motion control of BLDC motors, both simulation and experimental set-up have provided a good dynamic performance of the fuzzy logic controller system. The speed of the BLDC motor is detected by Hall-sensor ICs accurately instead of the usual, expensive and complicated encoder system. Besides, fuzzy reasoning algorithm designed to control BLDC to get the optimum control under the unstable rotor turning situation or sudden load change, the proposed fuzzy logic controller system has a good adaptability and strong robustness whenever the system is disturbed. The simulation model which is implemented in a modular manner under MATLAB environment allows dynamic characteristics such as phase currents, rotor speed, and mechanical torque to be effectively considered. The result paired with Matlab/simulink is a good simulation tool for modeling and analyzing fuzzy logic controlled brushless DC motor drives. Besides, both simulated results and experimental results shows very good agreement. Some of other adaptive enhancements technique such as artificial neural networks or neuro-fuzzy implementations could be use for future work. VI.
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REFFRENCES
P. Yedamale, Brushless DC (BLDC) Motor Fundamentals. Chandler, AZ: Microchip Technology, Inc., last access; March 15, 2009.[Online].Available:http://ww1.microchip.com/downloads/en/Ma rket_Communication/Feb%202009%20microSOLUTIONS.pdf
R. Akkaya, A.A. Kulaksz, and O Aydogdu, DSP implementation of a PV system with GA-MLP-NN based MPPT controller supplying BLDC motor drive, Energy Conv. and Management 48, 210-218, 2007. [3] Tan Chee Siong, Baharuddin; M.Fayzul; M.Faridun N.T, Study of Fuzzy and PI Controller for Permanent-Magnet Brushless DC Motor Drive, IEEE International Power Engineering and Optimization Conference.PEOCO 2010. [4] C.W. Hung; C.T. Lin, and C.W. Liu, An Efficient Simulation
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