Speed Control of Brushless DC Motor Using Conventional Controllers
Speed Control of Brushless DC Motor Using Conventional Controllers
Speed Control of Brushless DC Motor Using Conventional Controllers
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Abstract- DC motors find a considerable relatively simple [2, 3]. DC motors have principle
application where controlling a system is a disadvantages that are: lifetime of brushes is the
primary objective. A motor which exhibits the limited and due to use of brushes, reliability is
characteristics of a dc motor but does not have
lower. Moreover, the need of replacement in
the commutator and the brushes is a Brushless
DC motor (BLDC) These motors are popular operation is also required for time to time
for many industrial applications due to their maintenance [4].
reliability, high efficiency, high starting torque, In practice, the design of BLDC motor drive
and reduced electrical noise. For BLDC motor involves a complex process such as modeling,
speed control, different controllers are control scheme selection, simulation and parameters
employed. In this work, the behavior of BLDC tuning etc [5,6]. PI controller offers the simplest and
motor has been determined without controller
yet most efficient solution to many real-world
and with conventional controllers using PI &
PID. The results have been compared to each control problems [7]. PI controller offers the
other; among conventional controllers, PID simplest structure and robust performance in a wide
controller provides better response with range of operating conditions [8]. With the help of
changing load. MATLAB/SIMULINK software PI controlling parameters the speed and armature
is used to carry out the above investigation. current of BLDC motor is controlled and regulated.
Keywords- BLDC motor, PI controller, PID However, conventional PID controller algorithm is
Controller simple, stable, easy adjustment and high reliability,
conventional speed control system used in
I. INTRODUCTION
conventional PID control [9, 10].
There are two types of motors used in This paper discusses about modeling and speed
industries; firstly dc motors where the flux is control techniques of BLDC motor using open loop
created by the current through the field coil of the and closed loop with conventional controllers-PI and
stationary pole structure, secondly, permanent PID controller. The performance of speed control of
magnet brushless dc motors in which the BLDC motor is verified through simulation analysis
permanent magnet provides the necessary air gap on MATLAB Simulink platform.
flux instead of wire wound field poles. As the II. BLDC MOTOR OPERATIONAL
brushless DC motors do not have brushes, the PRINCIPLE
commutation takes place electronically. BLDC
motor is actually a permanent magnet synchronous The working principle of a BLDC motor is
motor (PMSM) with trapezoidal back EMF [1]. same as for a brushed DC motor; i.e. based on
BLDC motors have properties such as internal shaft position feedback. In case of a brushed
DC motor, feedback is maintained using a
torque- speed characteristics and smooth speed
mechanical commutator and brushes. With BLDC
control [1]. In this case, the control of DC motor motor, it is attained using multiple feedback
does not require complex Hardware and also sensors. The most commonly used sensors are hall
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International Journal of Pure and Applied Mathematics Special Issue
sensors and optical encoders. Hall sensors work on is the self inductance of each phase and M is the
the hall-effect principle that when a current- mutual inductance between two phases.
carrying conductor is exposed to the magnetic
field, charge carriers experience a force based on Hence, electromagnetic torque can be obtained as:
the voltage developed across the two sides of the
conductor. If the direction of the magnetic field is 1
Te (ea ia ebib ec ic )
reversed, the voltage developed will reverse as r (2)
well. For Hall-effect sensors used in BLDC
motors, whenever rotor magnetic poles (N or S) Where ωr is the mechanical speed of the rotor. The
pass near the hall sensor, they generate a HIGH or
equation of motion is:
LOW level signal, which can be used to determine
the position of the shaft.
d
For the three phases BLDC motors, the back- r (Te TL Br ) / J (3)
EMF and phase current waveforms with 120° dt
conduction mode are shown in Figs. 1.1, 1.2, [11]-
The electrical speed ωe is related to the mechanical
[12].
speed for a motor with P numbers of poles as
following:
e ( P / 2)r (4)
Fig. 1.1 Circuit diagram of BLDC motor drive system The speed control of BLDC motor with conventional
controller and fuzzy controller has been investigated.
a) PI Controller
t
output K p e(t ) K i e(t )dt
0 (5)
Fig. 1.2 Trapezoidal back emf pattern and reference current generation
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International Journal of Pure and Applied Mathematics Special Issue
t
de(t )
output K p e(t ) K i e(t )dt K d
dt
0 (6)
Where Kd is the proportional gain.
Number of poles 16
Number of phases 3
Voltage Input 24 V
Fig. 1.6 Electromagnetic Torque of BLDC motor
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V. CONCLUSION
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the motor with PID controller, motor drop its [11] Grasblum P., “3-phase BLDC motor contents control with
Hall sensors using DSP56F80x,”, Motorola App Note
speed and recovers speed in very less time as AN1916/D, 2004.
compared to PI controller. Rise time of PID
controller is better than PI controller. With PID [12] Ji Hua, Li Zhiyong, “Simulation of Sensorless Permanent
Magnetic Brushless DC Motor Control System,”, Proc. of the
controller, BLDC motor has no steady state error IEEE International Conference on Automation and Logistics,
while with PI controller, there is some steady state Qingdao, China, pp. 2847-2851, September 2008.
error. PID response gives high efficiency. The
results show that the dynamic performance of the
motor is quite satisfactory for various loading
conditions.
VI. REFERENCES
[1] Balogh Tibor,Viliam Fedak, Frantisek Durovsky.,
“Modeling and Simulation of the BLDC Motor in MATLAB
GUI”, Proceedings of the IEEE Fifth International
Conference on Fuzzy Systems and Knowledge Discovery,
US, pp. 1403- 1407, 2011.
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