Sliding Mode Observer Based Sensorless Control of BLDC Motor under DTC Scheme

Transcription

1 ISSN (Onlin): Intnational Jounal of Adancd Rach in Elctical, Elctonic and Intumntation Engining (An ISO 3297: 2007 Ctifid Oganization) Vol. 2, Iu 11, Nomb 2013 Sliding Mod Ob Bad Snol Contol of BDC Moto und DTC Schm Giija P 1, Pinc A 2 PG Studnt, Dpt. of EEE, Raji Gandhi Intitut of Tchnology, ottayam, ala, India 1 Aociat Pofo, Dpt. of EEE, Raji Gandhi Intitut of Tchnology, ottayam, ala, India 2 ABSTRACT: Dict Toqu Contol (DTC) i a mthod to contol th toqu in aiabl fquncy di. Thi pap dcib nol DTC of buhl dc (BDC) moto di opating in contant toqu gion und two pha conduction mod to gt intantanou toqu contol. Sliding Mod Ob (SMO) which i obut to paamt unctainti i popod to timat th pha-to-pha tapzoidal back-emf fo th nol opation. Thi timatd back-emf i ud to dduc th oto poition and th angula locity of th oto. And intantanou lctomagntic toqu can b calculatd by th poduct of back-emf and cunt.in thi pap th ffctin of liding mod ob with ignum and atuation function fo DTC chm i intigatd. ywod:buhl dc moto, Dict toqu contol, non-inuoidal back-emf, Sliding mod ob, two-pha conduction I.INTRODUCTION Now a day th dmand of BDC moto inca du to thi high fficincy, high toqu and pow dnity, low cot, impl tuctu, btt contollability and lag toqu to intia atio compad to buhl AC moto. So thy a ud in many domtic and indutial application anging fom o to taction di. A BDC moto i an inidout DC commutato moto with th mchanical commutato placd by an lctonic witching cont. Th mot popula way to contol a BDC moto i ia oltag ouc cunt-contolld int. Th int mut upply a ctangula cunt wafom who magnitud i popotional to th moto haft toqu. Th back-emf wafom of a BDC moto i tapzoidal hap du to th concntatd winding. In thi pap BDC with 120º conduction mod i popod, that man only two-pha conduct at any intant of tim. BDC moto fd by two-pha conduction ha high pow/wight and toqu/cunt atio [1]. Idally a BDC moto upplid with ctangula 120º lc. Pha cunt poduc a tapzoidal back-emf wafom who amplitud i contant o >120º lc. will ult a ippl f toqu. How, in a pactical BDC di toqu pulation ai du to th diation of back-emf wafom fom th idal. In DTC chm, th toqu command obtaind fom two ll hyti contoll by compaing th timatd lctomagntic toqu with thi fnc alu which i obtaind fom pd o. Fo th contol, oltag cto i lctd fom a look-up tabl which dpnd on oto flux cto poition and th toqu o to duc witching fquncy and toqu ippl in commutation gion [2]. Hall ffct no a uually ud a poition no to know th poition of commutation point. Nomally th no a mountd on th tato with 120º apat. Th no inca th cot, iz and wight of th moto and duc th liability of th total ytm. To ocom th poblm, intad of uing poition no, th nol mthod ha bn dlopd to timat th poition and locity of th oto fom th timat of pha-to-pha back-emf uing liding mod ob.sliding mod ob i a non-lina high gain ob ha th ability to bing co-odinat of th timato o dynamic to zo in finit tim. Th tability of th popod SMO wa ifid uing yapuno mthod to dtmin th ob gain. Th popod ob i ay to dign and ha obutn againt dign paamt [2]-[7]. In thi pap, DTC chm in th contant toqu gion und two-pha conduction bad on liding mod ob with ignum and atuation function fo back-emf timation i popod. Und two-pha conduction, th amplitud of tato flux linkag cannot aily b contolld du to hap chang and th cud hap of th flux cto locu Copyight to IJAREEIE

2 ISSN (Onlin): Intnational Jounal of Adancd Rach in Elctical, Elctonic and Intumntation Engining (An ISO 3297: 2007 Ctifid Oganization) Vol. 2, Iu 11, Nomb 2013 btwn two concuti commutation point. By ignoing th flux contol in th contant toqu gion fat toqu pon can b achid. II.MATHEMATICA MODE OF BDC MOTOR Th pha ta connctd BDC moto can b dcibd by th following quation, ab bc ca d R ia ib ia ib a b d R ib ic ib ic b c (1) d R ic ia ic ia c a Th quation of motion can b xpd a: dm T T Bm J (2) Wh, i and dnot th pha-to-pha oltag, pha cunt and back-mf pctily in th th pha a, b and c. R and dnot th lin-to-lin itanc and inductanc of tato winding. T i th lctomagntic gnatd toqu, T i th load toqu, B i th fiction cofficint, J i th pola momnt of intia and locity of oto [3],[4]. III.DIRECT TORQUE CONTRO OF BDC MOTOR Tanfoming th tat quation of BDC moto in -β tationay fnc fam can b wittn a: di Ri (3) i R i Wh,, i,, fnc fam. Elctomagntic toqu fo DTC can b xpd a: 3p d T i 4 d d i d di i th angula Copyight to IJAREEIE , a th tato oltag, tato cunt and back-mf pctily in th -β tationay i th no. of pol and i th oto lctical angl. Th diffntial fom of th oto flux componnt pct to lctical angula locity. i.., d d d d Wh d 1 d d d 1 d d d (4) Wh and a th -β axi oto flux cto componnt, p (5) Thn th lctomagntic toqu can b wittn a, can b did fom th atio of th back-emf to th m

3 ISSN (Onlin): Intnational Jounal of Adancd Rach in Elctical, Elctonic and Intumntation Engining (An ISO 3297: 2007 Ctifid Oganization) Vol. 2, Iu 11, Nomb 2013 T 3p i 4 i (6) Roto angula locity fo th lctomagntic toqu calculation can b obtaind fom th timat of liding mod ob. Fo th dict toqu contol, a witching pattn of int i lctd accoding to th output of hyti contoll and th flux cto poition. β V 2 (001001) V 3 (011000) IV III II I V 1 (100001) 30º 0 V 4 (010010) V VI V 5 (000110) V 6 (100100) Fig. 1 Two-pha oltag pac cto and cto Fig. 1 how th ix oltag cto and th cto. Th pop oltag cto, V i fo DTC chm i lctd fom th witching tabl a hown in Tabl. I. τ dnot th output of hyti contoll and th cto i dnotd a θ. If th fnc toqu gat than th actual toqu, within th hyti band limit, th output of th hyti contoll i dfind a τ=1 othwi τ= -1, out of th ix oltag cto, th pop oltag cto fo int i lctd bad on th witching tabl. TABE I. SWITCHING TABE FOR DTC OF BDC DRIVE τ θ I II III IV V VI 1 V 2 V 3 V 4 V 5 V 6 V 1-1 V 5 V 6 V 1 V 2 V 3 V 4 IV.ROTOR FUX OBSERVER Uing oto flux ob, th oto flux cto componnt fo (5) can b calculatd, i Ri i Ri (7) To contol lctomagntic toqu in DTC chm, th oto flux cto poition can b obtaind a, 1 tan (8) Copyight to IJAREEIE

4 ISSN (Onlin): Intnational Jounal of Adancd Rach in Elctical, Elctonic and Intumntation Engining (An ISO 3297: 2007 Ctifid Oganization) Vol. 2, Iu 11, Nomb 2013 V.SIDING MODE OBSERVER Sliding mod ob i ud fo th pha-to-pha back-emf timation accuatly. Sliding mod ob i popod a: dˆ dˆ Wh î, gn( 31 i ) gn( ) (9) î 42 i, diˆ diˆ R iˆ R iˆ ˆ ˆ gn( i 11 gn( i 22 ê, ê a th timation of -β ax tato cunt and back-emf pctily. Th liding ufac S i dfind a th o btwn th actual and timatd cunt ( i i T S S S (10), ) ) iˆ ), it i pntd a Whn th timation o tajctoi ach th liding ufac i.., S=0, th obd cunt will cong to actual. To find th ob gain, conid th poiti dfinit yapuno function a: 2 2 V i 1 i 2 i (11) Sliding mod occu whnv T S S 0. Onc th liding mod achid, th ytm will main on that liding mod [5]-[7]. Diati of V i with pct to tim conclud dv R i i i i i i 0 In od to nu th congnc of th ob, th gain hould atify th following condition, (a) and max 42 (b) 0 and 0 11 H S1 = 11 = 22 and S2 = 31 = Th ignum function i dfind a: 22 1 max (12) Copyight to IJAREEIE

5 ISSN (Onlin): Intnational Jounal of Adancd Rach in Elctical, Elctonic and Intumntation Engining 1; S 0 ign ( S) 0; S 0 (13) 1; S 0 (An ISO 3297: 2007 Ctifid Oganization) Vol. 2, Iu 11, Nomb 2013 To dca chatting ffct, th ignum function in (14) i placd with atuation function. Satuation function i dfind a: S ; S at S) ign( S); S ( (14) Wh i th liding ufac band. In od to duc th pu intgato influnc in th back-emf timation, a PI contoll i ud in thi ob [2]. VI.ROTOR POSITION AND SPEED ESTIMATION Th dtction of th ix oto poition (θ ) fo th pop commutation of a BDC moto can b aily dtmind fom th timatd back-emf in th -β tationay fnc fam [5]-[7]. Th timatd oto poition a follow, ˆ 1 tan ˆ ˆ Th back-emf ignal contain th oto pd infomation. In od to timat th intantanou oto angula locity, th following mathmatical lation i conidd. E max( pha to pha) (16) 2 Wh, Emax( pha to pha) i th amplitud of pha-to-pha back-emf and i th back-emf contant [4]. (15) + dc-link - ω * + - PI T * - τ Voltag Vcto Tabl S 1 S 2 S 3 S 4 S 5 S 6 Int S Scto Slction T θ Roto Flux Ob V Vβ Toqu Etimation i i β β abc ê ê Sliding Mod Ob ê ê β BDC Moto ω Spd I. Etimation Fig. 2 block diagam of dict toqu contol of BDC di Copyight to IJAREEIE

6 ISSN (Onlin): Intnational Jounal of Adancd Rach in Elctical, Elctonic and Intumntation Engining (An ISO 3297: 2007 Ctifid Oganization) Vol. 2, Iu 11, Nomb 2013 VII. RESUT AND DISCUSSION Th oall block diagam of nol dict toqu contol of BDC di i hown in fig. 2 wa imulatd by MATAB/Simulink. Th actual and timatd -β tationay fnc fam pha-to-pha back-emf, Eab uing ignum and atuation function a hown in Fig.3 and Fig.4 pctily. Whn liding mod ob with ignum function i implmntd to timat th back-emf of BDC moto th ultd gaph ha chatting du to th highly dicontinuou natu of th ignum function. In od to duc th chatting, intad of ignum function, atuation i gin. Thn it i obd that th chatting i ducd to gat xtnt. Fig.5 and Fig.6 how th actual and timatd oto poition uing SMO with ignum and atuation function pctily. In fig.5 th timatd oto poition how th ffct of chatting poblm. Whn th atuation function ud a a contol ignal in SMO, th ffct of chatting conidably ducd which i hown in Fig.6. Th abo gaph how a pha dlay fom th actual oto poition bcau of th intoduction of low pa filt ud in th oto poition timato. Fig.7 and Fig.8 how th actual and timatd oto pd. Whn th fnc pd of 350pm wa gin, th timatd pd tack th actual pd which i hown in fig.7.fig.8 how th pd pon of SMO with atuation function a contol ignal; th timatd pd ach it fnc alu y quickly. Fig.3 actual and timatd back-emf imulation tim Fig.4 actual and timatd back-emf imulation tim Fig.5 actual and timatd oto poition imulation tim Fig.6 actual and timatd oto poition imulation tim Copyight to IJAREEIE

7 ISSN (Onlin): Intnational Jounal of Adancd Rach in Elctical, Elctonic and Intumntation Engining (An ISO 3297: 2007 Ctifid Oganization) Vol. 2, Iu 11, Nomb 2013 Fig.7 actual and timatd oto pd imulation tim Fig.8 actual and timatd oto pd imulation tim Th timatd lctomagntic toqu fo DTC chm with ignum and atuation function a hown in fig.9 and fig.10 pctily. By compaing th ult it i obd that commutation toqu ippl i ducd to gat xtnt by th application of atuation function a th contol ignal. Fig.9 timatd toqu uing ignum function Fig.10 timatd toqu uing atuation function Fom th analyi of th ult, it i hown that th timatd output a accuat. How th i a poblm of chatting ffct in th timatd wafom. By nglcting that ffct of chatting, liding mod ob i a y good nol mthod fo th timation of pha-to-pha back-emf, oto poition and angula locity. VIII.CONCUSION In thi pap, an ob bad nol dict toqu contol of buhl DC moto i dlopd.uing lctomagntic toqu o and oto flux cto poition pop oltag cto fo int witching wa lctd fom look-up tabl to duc th toqu o within a pdfind hyti band limit. Th pfomanc of SMO with ignum and atuation function fo th lctomagntic toqu timation, oto pd and poition timation and timation of back-emf a ifid und DTC chm. Simulation ult how SMO with atuation function ha btt pd pon, ducd toqu ippl and th l ffct of chatting in th timation of oto poition and back-emf. In liding mod contol, th i a poblm with chatting ffct du to th pnc of witching impfction, witching tim dlay and dicontinuity in contol. In my futu wok, I plan to plac th dicontinuou contol function uch a ignum andatuation function with a continuou igmoid function and compa th ffct of chatting. REFERENCES [1] Salih Bai Oztuk and Hamid A. Toliyat, Dict toqu contol of buhl dc moto with non-inuoidal back-emf, IEEE Int. Elctic machin and Di Conf., ol. 1, pp , Copyight to IJAREEIE

8 ISSN (Onlin): Intnational Jounal of Adancd Rach in Elctical, Elctonic and Intumntation Engining (An ISO 3297: 2007 Ctifid Oganization) Vol. 2, Iu 11, Nomb 2013 [2] G. R. Aab Makadh, S. I. Mouai, S. Abazai and A. aga, Poition nol dict toqu contol of BDC moto, IEEE Int. Conf. on Ind. Tchnol [3] A. Dnadayalan and G. Saaana Ilango, Modifid liding mod ob fo poition and pd timation in buhl dc moto, IEEE Annu. India Conf. (INDICON), pp. 1-4, [4] H.Fakham, M.Djmai and.buawon, Dign and pactical implmntation of a back-mf liding mod ob fo a buhl dc moto, IET Jounal on Elctic Pow Appl. Vol. 2, No. 6, pp , [5] Hyun and Jangmyung, Dign of itati liding mod ob fo nol PMSM contol, IEEE Tan. on Contol Syt. Tchnol., ol. 21,no. 4, pp , Jul [6] Chn Wi, Chn Yankun, i Hongfng and Song Zhanfng, Snol contol of pmannt magnt ynchonou moto bad on liding mod ob, IEEE 7 th Int. Pow Elcton. and Motion Contol Conf., Jun [7] Salih Bai Oztuk and Hamid A. Toliyat, Dict toqu and indict flux contol of buhl dc moto, IEEE/ASME Tan. on Mchatonic, ol. 16, no. 2, Ap Copyight to IJAREEIE