vii TABLE OF CONTENTS CHAPTER NO. TITLE PAGE.NO. ABSTRACT LIST OF TABLES x LIST OF FIGURES xi LIST OF SYMBOLS AND ABBREVIATIONS 1 INTRODUCTION 2 iii xiii 1 1.1 GENERAL 1 1.2 ELECTRIC DRIVE 2 1.2.1 BLDC Motor 3 1.2.2 Hall Effect Sensor 4 1.2.3 Mathematical Model 5 1.2.4 Commutation Techniques 7 1.2.5 Four Quadrant Operation 7 1.2.6 Regenerative Braking 9 1.2.7 Digital Controller 9 1.3 OBJECTIVES OF THE RESEARCH 9 1.4 ORGANIZATION OF THESIS 10 1.5 CONCLUSION 12 STATE OF THE ART 13 2.1 INTRODUCTION 13 2.2 ELECTRICDRIVE 13 2.3 BLDC MOTOR 14 2.4 WITH SENSORS AND WITHOUT SENSORS 23 2.5 BRAKING METHODS 28 viii CHAPTER NO. 3 TITLE PAGE.NO. 2.6 PWM TECHNIQUES 30 2.7 INVERTER 34 2.8 DIGITAL CONTROLLER 35 2.9 CONCLUSION 43 SIMULATION OF FOUR QUADRANT OPERATION IN THREE PHASE BLDC MOTOR USING MATLAB/SIMULINK 44 3.1 INTRODUCTION 44 3.2 BLOCK DIAGRAM REPRESENTATION OF 3.3 3.4 3.5 4 THE DRIVE SYSTEM 44 SIMULINK MODEL OF BLDC DRIVE 45 3.3.1 BLDC Motor 46 3.3.2 Controller 47 3.3.3 Gate Signal Generation 49 3.3.4 Regenerative Mode 51 SIMULATION RESULTS 53 3.4.1 Speed Control at No Load 53 3.4.2 Four Quadrant Operation 59 3.4.3 Regenerative Mode 67 CONCLUSION 69 DIGITAL CONTROLLER FOR FOUR ` QUADRANT OPERATION OF THREE-PHASE BLDC MOTOR 70 4.1 INTRODUCTION 70 4.2 HARDWARE REALISATION 70 4.2.1 BLDC Motor 72 ix CHAPTER NO. PAGE.NO. 4.2.2 Inverter 74 4.2.3 Digital Signal Controller 76 4.3 REGENERATIVE MODE 80 4.4 IMPLEMENTATION STRATEGY 81 4.5 PROGRAMMING dsPIC30F4011 82 4.6 HARDWARE RESULTS AND ANALYSIS 84 4.6.1 Speed Control 89 4.6.2 Four Quadrant Operation 91 4.6.3 Energy Conservation 93 CONCLUSION 98 4.7 5 TITLE CONCLUSION AND FUTURE SCOPE 99 5.1 INTRODUCTION 99 5.2 INFERENCE 99 5.3 SCOPE FOR FUTURE WORK 100 5.4 CONCLUSION 100 REFERENCES 101 LIST OF PUBLICATIONS 113 CURRICULUM VITAE 114 x LIST OF TABLES TABLE NO. TITLE 3.1 Sequence of excitation of phases – clockwise 3.2 Sequence of excitation of phases – counter PAGE NO. 48 clockwise 49 3.3 Commutation Sequence – Clockwise 50 3.4 Commutation Sequence – Counter Clockwise 50 3.5 Speed Control 53 3.6 Quadrant Determination 60 3.7 Energization of Battery 68 4.1 BLDC Motor Parameters 73 4.2 Commutation Sequence – Clockwise 75 4.3 Commutation Sequence – Counter Clockwise 75 xi LIST OF FIGURES FIGURE NO. TITLE PAGE NO. 1.1 Electric Drive System 2 1.2 Cross sectional view of BLDC Motor with Hall Sensor 4 1.3 Working principle of Hall sensor 5 1.4 Four quadrants of operation 8 3.1 Complete Drive System 45 3.2 Simulink Model of Drive System 46 3.3 Motor Parameters 47 3.4 Controller - Subsystem 47 3.5 Decoder - Subsystem 48 3.6 Gate Signal Generator - Subsystem 49 3.7 Relay Block - Subsystem 52 3.8 Battery Parameters 52 3.9 Hall Signals - No load 54 3.10 PWM Pulses - No load 55 3.11 Stator back EMFs - No load 56 3.12 Stator Currents - No load 57 3.13 Rotor Speed and Electromagnetic Torque - No load 58 3.14 Stator Currents and Actual Speed - No load 59 3.15 Hall Signals 61 3.16 PWM pulses 62 3.17 Stator Back EMFs 63 3.18 Stator Currents 64 3.19 Rotor Speed and Electromagnetic Torque 65 xii FIGURE NO. TITLE PAGE NO. 3.20 Speed Control 66 3.21 Battery Characteristics 67 4.1 Hardware Implementation without load arrangement 71 4.2 Hardware Implementation with load arrangement 72 4.3 BLDC Motor 73 4.4 Inverter Circuit 74 4.5 Architecture of dsPIC30F4011 77 4.6 Relay Circuit 80 4.7 Hall Sensor Signals 85 4.8 PWM Pulses 86 4.9 Line Voltages VRY, VYB and VBR 87 4.10 Stator currents - Load 1 kg 87 4.11 Stator currents - Load 0.5 kg 88 4.12 Stator currents - No load 89 4.13 Speed Regulation 90 4.14 Speed Control 90 4.15 First Quadrant – PWM pulses 91 4.16 Quadrant I to II Transition 92 4.17 Quadrant II to III Transition 92 4.18 Quadrant III to IV Transition 93 4.19 Energization of battery – No load 94 4.20 Battery Current – No load 95 4.21 Energization of battery – 0.5 kg load 96 4.22 Battery Current – 0.5 kg load 96 4.23 Energization of battery – 1 kg load 97 4.24 Battery Current – 1 kg load 98 xiii LIST OF SYMBOLS AND ABBREVIATIONS Symbols ke - Back EMF constant ea - Back EMF of phase a eb - Back EMF of phase b ec - Back EMF of phase c e - Electrical rotor angle Te - Electrical Torque kf - Friction Constant kt - Friction Constant F(.) - Function L - Inductance TL - Load Torque m - Mechanical rotor angle Tm - Motor Torque ia - Phase current of phase a ib - Phase current of phase b ic - Phase current of phase c vab - Phase voltage of ab vbc - Phase voltage of bc vca - Phase voltage of ca P - Pole pairs R - Resistance J - Rotor Inertia - Rotor Speed m xiv Abbreviations 4Q - Four Quadrant 4QZCT - Four Quadrant Zero Current Transition A/D - Analog to Digital AC - Auxiliary Contact ADPCFG - A/D Port Configuration Register ANN - Artificial Neural Network ASIC - Application Specific Integrated Circuit AVM - Average Value Modeling BLDC - Brush Less Direct Current CAN - Controller Area Network CPLD - Complex Programmable Logic Device CPU - Central Processing Unit DC - Direct Current DH - High Duty DITC - Direct Instantaneous Torque Control DL - Low Duty DSC - Digital Signal Controller DSP - Digital Signal Processor dsPIC - Digital Signal Peripheral Interface Controller ECU - Electronic Control Unit EF - Error Function EMF - Electro Motive Force FESS - Flywheel Energy Storage System FPGA - Field Programmable Gate Array FSTP - Four Switch Three-Phase GUI - Graphical User Interface HDD - Hard Disk Drive xv I/O - Input / Output I2C - Inter-Integrated Circuit IC - Input Capture ICD - In Circuit Debugger IGBT - Insulated Gate Bipolar Transistor IIR - Infinite Impulse Response IM - Internal Model IPM - Interior Permanent Magnet IPMSM - Interior Permanent Magnet Synchronous Motor K - Constant (derivative) Ki - Integral Constant Kp - Proportional Constant LSB - Least Significant Bit MATLAB - MATrixLABoratory MCU - Micro Controller Unit MOSFET - Metal Oxide Semiconductor Field Effect Transistor MSB - Most Significant Bit MSO - Mixed Storage Oscilloscope MTPA - Maximum Torque Per Ampere NC - Normally Close NO - Normally Open OC - Output Compare p.u. - Per Unit PAM - Pulse Amplitude Modulation PC - Personal Computer PDC - Pulse width modulation Duty Cycle PI - Proportional Integral PIC - Peripheral Interface Controller PLL - Phase Locked Loop xvi PMBLDC - Permanent Magnet Brush Less Direct Current PR - Period Register PSIM - Power Simulation PSO - Particle Swarm Optimization PSoC - Programmable System on Chip PWM - Pulse Width Modulation RCP - Rapid Control Prototyping SAF - Shunt Active Filter SCR - Silicon Controlled Rectifier SMM - Symmetrical Multi pulse Modulation SPI - Serial Peripheral Interface SPWM - Sinusoidal Pulse Width Modulation SRM - Switched Reluctance Motor SVPWM - Space Vector Pulse Width Modulation T1IF - Timer 1 Interrupt Flag THD - Total Harmonic Distortion UART - Universal Asynchronous Receiver Transmitter - Very high speed integrated circuits Hardware VHDL VSC Description Language - Variable Structure Controller
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