THE CONTROLLER CIRCUIT (CLOSED-LOOP

CONTROL)

The circuit shown above is the closed-loop controller drive for the Permanent Magnet
PMBLDC Motor simulated in MATLAB. The motor in observation is a 36 V, 16- Pole
Machine. There are three main parts of this drive:

iv. The power supply (here, a buck converter).

v. The commutation circuit (here, generally an inverter is used for the commutation
purpose and this type of motor is electronically commutated).

vi. The feedback path (including speed controller of PI- type, a reference speed block and
a triangular wave generator that is compared with PI controller output to give gate
pulses).
. The PI Controller is tuned as following:

Proportional (P) =

Integral (I) =

The Commutation Circuit:

The Commutation Circuit

The circuit above represents the commutation circuit of the open-loop PMBLDC Motor
controller drive. As seen from the figure, there is an inverter that generally operates in
180 degree mode of conduction. We have used the MOSFET as a switch as the switchin g
frequency would be quite high. It is utmost important to understand the gating of each
 of these switches. For this, there are special Hall Sensors that are generally mounted at
a spacing of 60 degrees (it may however vary from configuration to configuration).

These Hall Sensors sense the rotor position by the effect of the magnetic field generated
near them and corresponding to that generate some output. The output is generated in
terms of which phase to excite and with what polarity it should be excited. (In
MATLAB, there is a decoder that decodes the Hall Sensor output and decides which
phase with what polarity should be excited. This output is passed through a gate block
that decides which switches of the leg are to be excited, i.e. upper switches for +ve
excitation and lower switches for ve excitation.)

The switching table for the same is as shown below

Switching Table

HALL SENSOR OUTPUTS PHASE EXCITATION

Ha Hb Hc Phase- A Phase- B Phase- C

0 0 1 0 -1 +1
1 0 1 +1 -1 0
1 0 0 +1 0 -1
1 1 0 0 +1 -1
0 1 0 -1 +1 0
0 1 1 -1 0 +1
The Buck Converter:

The Buck Converter

The battery to be used in the system is a Li-ion battery. As the vehicle operates,
the battery discharges leading to a decrease in the terminal voltage. This will
cause to a potential difference develop between battery and generator, leading
to flow of circulating current. The circulating current will cause heating of the
battery and hence reduce its life.

In order to prevent this, we propose using Buck convertor to control the voltage
of the battery which in turn will control speed. This will require real time sensing
of the battery voltage, which will be compared to the generator terminal voltage
and hence a firing scheme will be developed for the Buck convertor to control
output voltage.

Calculations:

Vi =

Vo =

. Io =
Now, Vo = Vi D

Solving this, we get, D = % =

f =.

V =

. I=.

Solving these, we get L = mH and C = mF.