CHAPTER 6
6.1 INTRODUCTION
the three phase reference currents (ia, ib, ic) using the limited peak current
(Qiang Han et al 2007).
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Zref Ze
Reference
I*a Ia
*
Speed T Current PWM
controller Generator * Current Ib
Limiter Ib Controller
Zr
Tr
Four switch
Position Vdc Three Phase
VSI
Actual PM
Speed Sensors BLDC
Motor
speed r(n) and the resulting error is estimated at the nth sampling instant as:
Where, e(n 1) is the speed error of previous interval, and e(n) is the
speed error of the working interval. KP and KI are the gains of proportional
and integral controllers respectively. By using Ziegler Nichols method the KP
and KI values are determined.
129
T*
using reference torque (T) and the back emf constant (Kb); I* .
Kb
generates three-phase reference currents (ia, ib, ic) considering the value of
Reference Currents
Rotor Position Signal r
(ia, ib, ic)
330-0 to 0-30 0 I I
30 - 90 I I 0
90 -150 I 0 I
150 - 210 0 I I
210 - 270 I I 0
270 - 330 I 0 I
130
Figure 6.2 Back EMF, current profile, modes, conducting switches in the
four-switch converter for three-phase BLDC motor drives
Figure 6.3 shows the FSTP BLDC drive with current regulation.
The PMBLDC motor is modeled in the 3-phase abc frame. The general volt-
ampere equation for the circuit is shown in the Figure.6.4. Terminal voltages
of a BLDC motor in the four-switch inverter with respect to the mid-point of
the dc bus are as follows:
Ri a L ea Vno
dia
Vao (6.3)
dt
Ri b L e b Vno
di b
Vbo (6.4)
dt
Ri c L ec Vno
di c
Vco (6.5)
dt
131
Ls M
S3 ea
S1 R
Vc1 $ $
Ls M
ia
a ec
c ic R
b Ls M eb
ib R
Vc 2 S2 S4
$ $
S1 S 2 S3 S4
Current ia ib
Re gulators
i a Ref ib Ref
Ha
I Re f Current Re ference Generator Hb
Hc
From the motor point of view, even though the BLDC motor is
supplied by the four-switch converter, ideal back-EMF of three-phase BLDC
motor and the desired current profiles can be described as shown in Figure
6.2. From the detailed investigation of the four-switch configuration and
back-EMF and current profiles, it could be concluded that the existing PWM
method for B6 inverter can not perform with FSTP inverter. Under a balanced
condition, the three-phase currents always satisfy the following condition:
Ia I b Ic 0 (6.6)
Ic (I a I b ) (6.7)
In the case of the ac induction motor drive, at any instant there are always
three phase currents flowing through the load, such as
Ia z 0 ; I b z 0 ; Ic z 0 (6.8)
However, in the case of the BLDC motor drive, (6.8) is not valid anymore.
Note that in Figure 6.2 phase A and B currents are only controllable and
phase C is uncontrollable. The modes of operation FSTP inverter is depicted
in Figure 6.5. Table 6.2 implies that due to the characteristics of the BLDC
motor, such as two-phase, only two phases (four switches) needed to be
controlled, not three phases. Therefore, based on Table 6.2, one can develop
a switching sequence using four switches.
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S1 S3 S1 S3
a a
c c
b b
S2 S4 S2 S4
(a) (b)
S1 S3 S1 S3
a a
c c
b b
S2 S4 S2 S4
(c) (d)
S1 S3 S1 S3
a a
c c
b b
S2 S4 S2 S4
(e) (f)
! 0, 0 and
di a di b
Therefore, mode II is divided into two cases, such as
dt dt
135
Reference
Ia
Ib
Ic
a a
Phase A Phase A
Vd Winding Vd Winding
ec
c x Vcn 0 x n c x x n
Vd Phase B Vd Phase B
Winding Winding
b b
(a) (b)
I a Re f S 1 signal
I b Ref S 4 signal
Ia Current
Ib
Controller
Figure 6.9 represents the back EMF resulted in the simulation and
Figure 6.10 shows the sectors of FSTP inverter while feeding BLDC motor.
The phase currents are illustrated in Figure 6.11. Figure 6.12 shows the torque
and the speed variations in starting for the reference speed of 150RPS and
load on 6 N-m. The motor speed quickly converges to the reference during the
startup.
139
For Step change reference speed the drive takes negligible steady
state error and settling time of 0.01s without any overshoot. The hardware
results are very marginal to simulation result which is much lesser, and then
the difference occurred during multiple observations in digital storage
oscilloscope
6.7 SUMMARY
This chapter presents a method to generate PWM signals for control of four-
switch three-phase inverters. The simulation model of the BLDC motors drive
system with PI control based four switch three phase inverter on
MATLAB/Simulink platform is presented. The system is realized in
TMS320LF2407 DSP platform. The main advantages are increased system
reliability and cost reduction of the overall system. The performance of the
developed algorithm based speed controller of the drive has revealed that the
algorithm devises the behavior of the PMBLDC motor drive system work
satisfactorily. In comparison with the usual three-phase voltage-source
inverter with six switches, the main features of this converter are twofold: the
first is the reduction of switches and freewheeling diode count; the second is
the reduction of conduction losses. For a step change the reference speed the
drive takes negligible settling time of 0.01s without any overshoot.