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Lingxu 2016
Lingxu 2016
Abstract-According to the mathematical model of a brushless simulation experiments and comparative, moreover points
DC motor, using MATLAB / Simulink to build various out further work.
independent functional modules, and integrated into the
simulation model of brushless DC motor control system. The II. BLDCM CONTROL SYSTEM STRUCTURE AND
system uses the double loop of control mode , including the MATHEMATICAL MODEL
inner current loop and the outer speed loop, to ensure that the
motor is performance well in the high and low speed, and A. The Architecture ofBLDCM Control System
system has start fast, flexible control, robustness and other
Brushless DC motor system block diagram is shown as
advantages. By conducting the two simulation experiments of
Fig.l, mainly by the DC power supply, three-phase full
tracking the speed and keeping the speed stability, we
preliminarily verify the effectiveness and reasonable of the
bridge inverter circuit, a motor body and a rotor position
system modeling method and the feasibility of the control
sensor, a controller composed of four parts.
system design, simulation and setting parameters can also be
made to optimize the actual controller control and
commissioning reference.
I. INTRODUCTION
ill •
( 1) Uv r
il�
r •
UJV
dOJ
Te -TL -Bd OJ =J- (3)
dt
Figure 3. Overall control block diagram.
In fonnula (3), TL is load torque; Ed is damping
coefficient; J is rotor inertia.
Math
Function
� B�b
�.
�b' I Goto1
A --J.llr- a
uvcurrentMeasurement1
c �c
Three-Phase
Mutual Inductance
ic
Z1-Z0
. Goto2
<D-- + �
UWCurrentMeasurement2
Add
Based on the idea of modular modeling, the model is Controller Block, wherein the Logical Switch is part of the
divided into the following sub-modules: Motor_Body & controller unit.
Torque Dynamics, 3-phase Inverter, Logical Switch and
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A. Motor_Body Model and Torque Dynamics operation, that was the rotor position signal pos, which is the
Motor body's mathematical model is to describe the input of M function block.
working principle of BLDCM, including stator winding BLDCM directly detectable hall signals to determine the
speed and torque calculated, as shown in Fig. 4. The position of its rotor, in accordance with the rotor position, a
mechanical angle of the motor tum rotor can be obtained by motor operating cycle is divided into six segments, each can
the integrating operation of the angular velocity (0, be used to obtain the value of the counter electromotive force
multiplied by the number of pole pairs p to get motor angle, by solving the linear segments, Table I shows the rotor
and then carry out the electrical angle of 21t remainder electrical angle different the output signals at M function[4].
Rotor position HaHbHc Conduction phase Counter electromotive force of each phase winding
Ea=k"w
0"
1 1 0 UV Eb=-k,w
-60'
Eck"w(1-pos/(1l/6))
Ea=k,w
Ec--k,w
Ea=k"w((21l/3-pos)/(1l/6)+ 1)
Ec--k,w
Ea=-k"w
Eck,w((pos-1l)/(1l/6)-1)
Ea=-k,w
Ec-k,w
Ea=k"w((pos-51l/3)/(1l/6)-1)
Eck"w
•__-+l9 .l m
96 • C ¥E Io---......
Diode Diode1
,4
,6
Diode3
,2
Bitwise Operator6 Compare To Zer04
•__-+l9 .l m
92 • C ¥E 10-""::"::'::"':":---1 Figure 6. Block diagram of logical switch.
Diode4 DiodeS
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logic switch, and we use direct lookup table to control the six difference between them; square wave of the bottom window
IGBT of full-bridge inverter circuit turn-off. Wherein, gl, g3, reflects changes in the operation mode of motor, 1 represents
g5 control upside transistor opening and closing, and g2, g4, electric, 0 represents regenerative braking power.
g6 control underside transistor opening and closing. The
drive circuit uses tube modulation mode, in other words, the TABLE II. MOTOR PARAMETERS
current. The difference between the reference current and results shown in Fig.9.
real-time winding current value as a current loop input,
through current PI regulator, its output is the voltage control
�i /
signal[5]. The signal is then compare with triangular wave to
generate the PWM signal. The specific model is shown as
Fig. 7. �;�" "- �
I:: ,
.
I:
Figure 7. Double-loop PI regulator block diagram. I:
Motor operation switcher block diagram is shown as Fig.
I'
I
,
8. Once the actual speed off the target speed is too large, and
Figure 9. Result of speed tracing experiment.
more than a certain threshold value, it is determined whether
the state work properly. If correct, switching operation.
In the stability test speed (constant target speed, load
torque changes), we set the target rotation speed to 800 r /
min. The result is shown as Fig. 10.
:�
�
-
Figure 8. Block diagram of operating state shift.
IV. SIMULATION AND ANALYSIS Figure 10. Result of speed stability experiment.
We conducted two simulations: one is that we keep the From the figure, blue, green and red curves of the upper
load torque constant and change the target speed, then window represent the target speed, actual speed and the
observe the case of the actual speed tracking target rotation difference between them. In the middle of the window, curve
speed; another is that the target rotational speed keep represents the applied load. The square wave of lower
constant and the load torque is constantly changing[6], then window reflects the motor operation mode Variety.
observe the stability of the actual speed. As it can be seen from the simulation results of two
Simulation motor parameters is shown as Table II: experiments, fast dynamic response, speed error in addition
From the figure, blue, green and red curves of the upper to switching motor operation at a larger (but in the design
window represent the target speed, actual speed and the
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allowable range), and the remaining time is almost zero, the In the figure, top-down control signal of IGBT were gl,
system controls to good effect. g2, g3, g4, g5, g6 (refer to Fig.5). Visiblely, in the
When the motor is running at a constant speed, the phase corresponding conduction phase, gl, g3, g5 participate PWM
current waveform and the counter electromotive force modulation, g2, g4, g6 keep open normally.
waveform are shown as Fig. 1 1.
REFERENCES
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