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Torque Ripple Minimization Via PWM Control Technique
Torque Ripple Minimization Via PWM Control Technique
Torque Ripple Minimization Via PWM Control Technique
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A. Reference Voltage Controlled PWM
The commutation pulse modulation control technique
compensates current lagging effect and reduces the phase
current to zero before the next driving cycle starts as
shown in Fig. 2(b). The commutation angle is set to be
30° and it also eliminates current spike which degrades
the efficiency of the motor drive. Since the commutation
pulse modulation cannot provide constant power
operation, RVC PWM technique is applied to regulate the
input voltage of the motor and minimize the excitation
torque ripple. As shown in Fig. 3(b), the reference
voltage of the PWM is modified to minimize the phase
current spike. The duty cycle of the slope, șduty, is fixed at
120° and only the reference voltage ratio, ijv, is
controlled. The parameter, ijv, can be expressed
v
ϕ v = ramp (3)
(a) vref _ peak
and it is dependent on the speed of the motor, Ȧrpm, and
the peak of the reference voltage, vref_peak.
B. Analytical Modeling
To evaluate the performance of the RVC PWM, the
half cycle phase current of the single-phase BLDC motor
is mathematically calculated. This analytical model can
also be used to define the relationship between the peak
reference voltage, vref_peak, and the motor speed, Ȧrpm, with
ijv for closed loop control. The half cycle is divided into
three modes as shown in Fig. 3(b) and the calculation is
carried out under the following assumption:
1) The stator winding resistance is neglected
(b)
Fig. 3. The overview of the proposed reference voltage controlled 1 t2
(RVC) PWM technique and the motor drive schematic. (a) The
is = ³ vin − eback dt + is _ ini . (4)
Ls t1
schematic of the single-phase BLDC motor drive. (b) RVC PWM
technique. 2) The initial current of the half cycle is always zero.
3) The motor back-EMF is trapezoidal and has 1:4:1
higher than the base speed. Depending on the machine ratio (Mode 1:Mode 2:Mode 3).
design and the specification of the motor drive, the peak 4) șduty is fixed at 120° and only ijv is controlled to
motor speed can reach 10 times higher than the base achieve RVC PWM.
speed. However, a severe excitation torque ripple 5) The commutation pulse modulation angle, șcp is
deteriorates the performance of the motor. The inverse fixed at 30°.
motor back-EMF and the forward motor phase current 6) The phase current calculation is based on (4).
generate negative power and therefore negative torque.
The negative torque will dramatically increase the output Mode 1 [0° < Ȧradt < 30°]
torque ripple and the related issues such as vibration, In mode 1, the input voltage is constant at the peak
noise, and heat will occur as well. In addition, it will reference voltage and the motor back-EMF increases
degrade the overall efficiency of the motor drive system. linearly. As stated in the assumption, the initial phase
current is zero.
III. PROPOSED TORQUE RIPPLE MINIMIZATION PWM vin = vref _ peak (5)
CONTROL TECHNIQUE
6K eω rpmω rad t
The proposed control technique utilizes commutation eback = (6)
pulse modulation along with reference voltage controlled π
(RVC) PWM to minimize excitation torque ripple. The is _ ini = 0 (7)
detailed operation and analytical modeling process are
The given values (5-7) are substituted into (4), which
described in the following subsections. The motor drive
yields
and the motor equivalent circuit are shown in Fig. 3(a).
Due to the high switching frequency operation 1 3K eω rpmω rad 2
is = (Vref _ peak t − t ). (8)
(>150kHz), the output dv/dt filter is implemented to Ls π
prevent high core loss and stator winding insulation issue.
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(a) (a)
(b) (b)
Fig. 4. Theoretically calculated half cycle phase current of single-phase Fig. 5. Theoretically calculated half cycle phase current of single-phase
BLDC motor A with various input voltage levels and reference voltage BLDC motor B with various input voltage levels and reference voltage
ratio, ijv (LS = 60 ȝH, Ȧrad = 95,000 rpm). (a) Phase current waveforms ratio, ijv (LS = 40 ȝH, Ȧrad = 95,000 rpm). (a) Phase current waveforms
with commutation pulse modulation angle of 30° with conventional with commutation pulse modulation angle of 30° with conventional
PWM for input voltage regulation. (b) Phase current waveforms with PWM for input voltage regulation. (b) Phase current waveforms with
commutation pulse modulation angle of 30° with RVC PWM. commutation pulse modulation angle of 30° with RVC PWM.
Mode 2 [30° < Ȧradt < 150°] Mode 3 [150° < Ȧradt < 180°]
In mode 2, the input voltage linearly decreases with In mode 3, the input voltage is the sum of the negative
the reference voltage ratio, ijv, and the motor back-EMF vin_peak and the negative two times of the body diode
is constant at the peak. The initial phase current is the forward voltage drop, Vf. This is due to the freewheeling
same with the final phase current value of mode 1. region where all the switches are off and the phase
vramp = vref _ peakϕ v (9) current flows through the body diodes of the switches.
Since the body diode forward voltage drop of a GaN
3vramp π device is almost 3 times higher than that of a Si device, it
vin = vref _ peak − (ω rad t − ) (10)
2π 6 should not be neglected. The motor back-EMF decreases
eback = K eω rpm (11) linearly. The initial phase current is the same with the
final phase current value of mode 2.
is _ ini = is _ m1_ final (12)
The given values (9-12) are substituted into (4), which vin = −(vin _ peak + 2V f ) (14)
yields 6K eω rpm 5π
1 vramp 3vrampω rad 2 eback = K eω rpm − (ω rad t − ) (15)
is = [(Vref _ peak + − K eω rpm )t − t ] + is _ ini . π 6
Ls 4 4π is _ ini = is _ m2 _ final (16)
(13)
The given values (14-16) are substituted into (4), which
yields
1 3K eω rpmω rad 2
is = [(vin − 6K eω rpm )t + t ] + is _ ini .
Ls π
(17)
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Fig. 6. Theoretically calculated torque-speed envelopes of single-phase (a)
BLDC motor A and B (ȦbA and ȦbB are the base speed of motor A and
B respectively).
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V. CONCLUSION [9] M. Fazil and K. R. Rajagopal, “Nonlinear dynamic modeling of a
single-phase permanent-magnet brushless DC motor using 2-D
The novel control technique of single-phase brushless static finite-element results,” IEEE Trans. Mag., vol. 47, pp. 781-
DC motor for high-speed applications is proposed. The 786, Apr. 2011.
half cycle phase current is analytically calculated to [10] S. Bentouati, Z. Q. Zhu, and D. Howe, “Influence of design
verify the benefits of the proposed control technique. The parameters on the starting torque of a single-phase PM brushless
new control technique minimizes the output torque ripple DC motor, ” IEEE Trans. Mag., vol. 36, no. 5, pp. 3533-3536,
by 91.82% and improves the overall motor drive system 2000.
[11] M. Fazil and K. R. Rajagopal, “A novel air-gap profile of single-
efficiency by 1.5%. The proposed approach is also
phase brushless DC motor for starting torque improvement and
applicable to three phase or phase-decoupling brushless cogging torque reduction, ” IEEE Trans. Mag., vol. 46, no. 11,
DC motor for high-speed applications. pp. 3928-3932, 2010.
[12] Z. Q. Zhu, S. Bentouati, and D. Howe, “Control of single-phase
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