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10 1109@tia 2011 2182329
10 1109@tia 2011 2182329
10 1109@tia 2011 2182329
2, MARCH/APRIL 2012
TABLE I
ELECTRONIC COMMUTATOR OUTPUT BASED ON THE
HALL-EFFECT SENSOR SIGNALS [6], [11]
dc link voltage and Vdc (k) is the voltage sensed at the dc link, vao = (Vdc /2) for Sa1 = 1 (12)
then the voltage error Ve (k) is given as vao = (−Vdc /2) for Sa2 = 1 (13)
∗ vao =0 for Sa1 = 0, and Sa2 = 0 (14)
Ve (k) = Vdc (k) − Vdc (k). (7)
van = vao − vno (15)
The PI controller output Ic (k) at the kth instant after process-
where vao , vbo , vco , and vno are the voltages the three phases
ing the voltage error Ve (k) is given as
(a, b, and c) and neutral point (n) with respect to the virtual
Ic (k) = Ic (k − 1) + Kp {Ve (k) − Ve (k − 1)} + Ki Ve (k) (8) midpoint of the dc link voltage shown as “o” in Fig. 3. The
voltages van , vbn , and vcn are the voltages of the three phases
where Kp and Ki are the proportional and integral gains of the with respect to the neutral terminal of the motor (n), and Vdc is
PI controller. the dc link voltage. The values 1 and 0 for Sa1 or Sa2 represent
2) Reference Current Generator: The reference current at the “on” and “off” conditions of respective IGBTs of the VSI.
the input of the Cuk converter (i∗d ) is The voltages for the other two phases of the VSI feeding the
PMBLDC motor, i.e., vbo , vco , vbn , and vcn , and the switching
i∗d = Ic (k)uVs (9) pattern of the other IGBTs of the VSI (i.e., Sb1 , Sb2 , Sc1 , and
Sc2 ) are generated in a similar way.
where uVs is the unit template of the ac mains voltage, calcu- 3) PMBLDC Motor: The PMBLDCM is modeled in the
lated as form of a set of differential equations [11] given as
uVs = vd /Vsm ; vd = |vs |; vs = Vsm sin ωt (10) van = Ria + pλa + ean (16)
where Vsm and ω are the amplitude (in volts) and frequency (in vbn = Rib + pλb + ebn (17)
radians per second) of the ac mains voltage.
vcn = Ric + pλc + ecn . (18)
3) PWM Controller: The reference input current of the Cuk
converter (i∗d ) is compared with its current (id ) sensed after In these equations, p represents the differential operator
DBR to generate the current error Δid = (i∗d − id ). This current (d/dt), ia , ib , and ic are currents, λa , λb , and λc are flux
error is amplified by gain kd and compared with fixed frequency linkages, and ean , ebn , and ecn are phase-to-neutral back EMFs
(fs ) sawtooth carrier waveform md (t) [6] to get the switching of PMBLDCM, in respective phases; R is the resistance of
signal for the MOSFET of the PFC Cuk converter as motor windings/phase.
Moreover, the flux linkages can be represented as
if kd Δid > md (t) then S = 1 else S = 0 (11)
λa = Ls ia − M (ib + ic ) (19)
where S denotes the switching of the MOSFET of the Cuk
converter as shown in Fig. 2 and its values “1” and “0” represent λb = Ls ib − M (ia + ic ) (20)
“on” and “off” conditions, respectively.
λc = Ls ic − M (ib + ia ) (21)
The functions fb (θ) and fc (θ) are similar to fa (θ) with phase
differences of 120◦ and 240◦ , respectively.
Therefore, the electromagnetic torque expressed as
Te = Kb {fa (θ)ia + fb + fc (θ)ic } . (32) Fig. 4. Performance of the proposed PFC drive under speed control at
220-V ac input. (a) Starting performance of the proposed drive at 1000 r/min.
The mechanical equation of motion in speed derivative form (b) Proposed drive under speed control from 1000 to 1500 r/min. (c) Proposed
drive under speed control from 1000 to 500 r/min.
is given as
pωr = (P/2)(Te − Tl − Bωr )/(J) (33) Appendix. The performance of the proposed PFC drive is
evaluated on the basis of various parameters such as THD and
where ωr is the derivative of rotor position θ, P is the number of CF of the ac mains current and displacement power factor
poles, Tl is the load torque in newton meters, J is the moment (DPF) and PF at different speeds of the motor as well as
of inertia in kilogram square meters, and B is the friction variable input ac voltage. For the performance evaluation of
coefficient in newton meter seconds per radian. the proposed drive under input ac voltage variation, the dc
The derivative of rotor position is given as link voltage is kept constant at 298 V which is equivalent to a
1500-r/min speed of the PMBLDCM. Figs. 4–8 and Tables II
pθ = ωr . (34)
and III show the obtained results of the proposed PMBLDCMD
Equations (16)–(34) represent the dynamic model of the in a wide range of the speed and the input ac voltage.
PMBLDC motor.
A. Performance of PMBLDCMD During Starting
V. P ERFORMANCE E VALUATION OF PMBLDCMD
The performance of the PMBLDCMD during starting is
The proposed PMBLDCMD is modeled in Matlab– evaluated while feeding it from 220-V ac mains with the
Simulink environment, and its performance is evaluated for an reference speed set at 1000 r/min and rated torque. Fig. 4(a)
Air-Con compressor load. The compressor load is considered as shows the starting performance of the drive depicting voltage
a constant torque load equal to the rated torque (5.2 N · m) with (vs ) and current (is ) at ac mains, voltage at dc link (Vdc ),
variable speed as required by an Air-Con system. A 0.816-kW speed of motor (N ), electromagnetic torque (Te ), and stator
rating PMBLDCM is used to drive the air-conditioner, the current of phase “a” (ia ). A rate limiter is introduced in the
speed of which is controlled effectively by controlling the dc reference voltage to limit the starting current of the motor as
link voltage. The detailed data of the motor are given in the well as the charging current of the dc link capacitor. The PI
836 IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS, VOL. 48, NO. 2, MARCH/APRIL 2012
TABLE II
PERFORMANCE OF THE PROPOSED DRIVE UNDER SPEED CONTROL AT
220-V INPUT AC VOLTAGE (Vs )
Fig. 5. Variation of dc link voltage with speed for proposed PFC drive at rated
torque and 220-V ac input.
Fig. 6. PQ indices of proposed drive under speed control at rated torque and
220 V ac input. (a) Variation of Is and its THD. (b) Variation of DPF and PF.
TABLE III
PQ INDICES WITH INPUT AC VOLTAGE (Vs ) VARIATION AT 1500 r/min
Fig. 7. Current waveform at input ac mains and its harmonic spectra for the
proposed drive under steady-state condition at rated torque and 220 V ac input.
(a) Is and THD at 500 r/min. (b) Is and THD at 1500 r/min.
twice the rated current due to the rate limiter introduced in the
reference voltage.
2) Steady-State Condition: The performance of
PMBLDCMD under steady-state speed condition is obtained at
different speeds as summarized in Table II which demonstrates
the effectiveness of the proposed drive in a wide speed range.
Fig. 5 shows the linear relation between motor speed and
dc link voltage. Since the reference speed is decided by the
reference voltage at dc link, it is observed that the control of
the reference dc link voltage controls the speed of the motor.
40 kHz, whereas it is the fundamental frequency corresponding [4] J. F. Gieras and M. Wing, Permanent Magnet Motor Technology—Design
to the speed of the motor for the electronic commutator and Application. New York: Marcel Dekker, 2002.
[5] B. Singh, B. N. Singh, A. Chandra, K. Al-Haddad, A. Pandey, and
feeding VSI. D. P. Kothari, “A review of single-phase improved power quality ac–dc
Test results are recorded using a power analyzer of Fluke converters,” IEEE Trans. Ind. Electron., vol. 50, no. 5, pp. 962–981,
make and a four-channel digital storage oscilloscope of Agi- Oct. 2003.
[6] N. Mohan, M. Undeland, and W. P. Robbins, Power Electronics: Convert-
lent make. Test results are shown in Fig. 9(a)–(e) for various ers, Applications and Design. Hoboken, NJ: Wiley, 1995.
performance parameters such as starting, speed control, and PQ [7] Limits for Harmonic Current Emissions (Equipment Input Current ≤ 16 A
improvement. Smooth speed control is obtained during accel- Per Phase), Int. Std. IEC 61000-3-2, 2000.
[8] S. Cuk and R. D. Middlebrook, “Advances in switched-mode power con-
eration and deceleration by controlling the voltage at dc link as version Part-I,” IEEE Trans. Ind. Electron., vol. IE-30, no. 1, pp. 10–19,
demonstrated in Fig. 9(b) and (c). Fig. 9(d) demonstrates the Feb. 1983.
test results during steady-state condition at a 1500-r/min speed [9] C. J. Tseng and C. L. Chen, “A novel ZVT PWM Cuk power factor
corrector,” IEEE Trans. Ind. Electron., vol. 46, no. 4, pp. 780–787,
while the THD of current at input ac mains is recorded within Aug. 1999.
5% as shown in Fig. 9(e). These test results show conformity [10] B. Singh and G. D. Chaturvedi, “Analysis, design and development of
with the simulation results and validate the proposed voltage single switch Cuk ac–dc converter for low power battery charging appli-
cation,” in Proc. IEEE PEDES, 2006, pp. 1–6.
control scheme for speed control of PMBLDCMD along with [11] C. L. Puttaswamy, B. Singh, and B. P. Singh, “Investigations on dynamic
PQ improvement at input ac mains while using a single DSP. behavior of permanent magnet brushless dc motor drive,” Elect. Power
Compon. Syst., vol. 23, no. 6, pp. 689–701, Nov. 1995.
VII. C ONCLUSION
A new speed control strategy for a PMBLDCMD using the Sanjeev Singh (S’09–M’11) was born in Deoria,
reference speed as an equivalent voltage at dc link has been India, in 1972. He received the B.E. (electrical) de-
gree from Avadhesh Pratap Singh University, Rewa,
simulated for an air-conditioner employing a Cuk PFC con- India, in 1993, the M.Tech. degree from Devi Ahilya
verter and experimentally validated on a developed controller. Vishwa Vidyalaya, Indore, India, in 1997, and the
The speed of PMBLDCM has been found to be proportional to Ph.D. degree from the Indian Institute of Technology
Delhi, New Delhi, India, in 2011.
the dc link voltage; thereby, a smooth speed control is observed He joined the North India Technical Consultancy
while controlling the dc link voltage. The introduction of a Organisation, Chandigarh, India, as a Project Officer,
rate limiter in the reference dc link voltage effectively limits in 1997, and in 2000, he joined Sant Longowal
Institute of Engineering and Technology, Longowal,
the motor current within the desired value during the transient India, as a Lecturer in the Department of Electrical and Instrumentation Engi-
conditions. The PFC Cuk converter has ensured near unity PF neering. He is currently an Assistant Professor in the Department of Electrical
in a wide range of the speed and the input ac voltage. Moreover, and Instrumentation Engineering, Sant Longowal Institute of Engineering and
Technology. His areas of interest include power electronics, electrical machines
PQ indices of the proposed PFC drive are in conformity to and drives, energy efficiency, and power quality.
the International Standard IEC 61000-3-2 [7]. The proposed Dr. Singh is a Life Member of the Indian Society for Technical Education,
PMBLDCMD has been found as a promising variable speed the Systems Society of India, and The Institution of Engineers (India).
drive for the Air-Con system. Moreover, it may also be used
in the fans with PMBLDC motor drives on the trains recently
introduced in Indian Railways. These PMBLDC motor drive- Bhim Singh (SM’99–F’10) was born in Rahamapur,
India, in 1956. He received the B.E. (electrical) de-
based fans have similar PQ problems as they use a simple gree from the University of Roorkee, Roorkee, India,
single-phase diode rectifier and no speed control. These fans in 1977, and the M.Tech. and Ph.D. degrees from
also have inrush current problems. All these PQ problems of the Indian Institute of Technology (IIT) Delhi, New
Delhi, India, in 1979 and 1983, respectively.
poor PF, inrush current, and speed control in these fans on the In 1983, he joined the Department of Electrical
trains in Indian Railways may be mitigated by the proposed Engineering, University of Roorkee, as a Lecturer,
voltage-controlled PFC Cuk converter-based PMBLDCMD. and in 1988, he became a Reader. In December 1990,
he joined the Department of Electrical Engineering,
IIT Delhi, as an Assistant Professor, where he be-
came an Associate Professor in 1994 and a Professor in 1997. Since September
A PPENDIX 2007, he has been the Asea Brown Boveri Chair Professor at IIT Delhi. His
fields of interest include power electronics, electrical machines, electric drives,
Rated power: 0.816 kW; rated speed: 1500 r/min; rated renewable energy generation, power quality, flexible ac transmission systems,
torque: 5.2 N · m; poles: 6; stator resistance (R): 3.57 Ω/ph; and high-voltage direct-current transmission systems. He has guided 35 Ph.D.
dissertations, 120 M.E./M.Tech./M.S.(R) theses, and 60 B.E./B.Tech. projects.
inductance (L + M ): 9.165 mH/ph; back EMF constant (Kb ): Dr. Singh was the recipient of the Khosla Research Prize of the University
1.3 V · s/rad; inertia (J): 0.068 kg · m2 ; source impedance of Roorkee in 1991. He is a recipient of the J.C. Bose and Bimal K. Bose
(Zs ): 0.03 p.u.; switching frequency of PFC switch (fs ): Awards of The Institution of Electronics and Telecommunication Engineers
(IETE) for his contributions in the field of power electronics. He is also a
40 kHz; PI speed controller gains (Kp ): 0.145; (Ki ): 1.85. recipient of the Maharashtra State National Award of the Indian Society for
Technical Education (ISTE) in recognition of his outstanding research work in
R EFERENCES the area of power quality. He was the recipient of the IEEE Power and Energy
Society Delhi Chapter Outstanding Engineer Award for the year 2006. He was
[1] T. Kenjo and S. Nagamori, Permanent Magnet Brushless DC Motors. the General Chair of the IEEE International Conference on Power Electronics,
Oxford, U.K.: Clarendon, 1985. Drives and Energy Systems (PEDES’2006) held in New Delhi. He is a Fellow
[2] T. J. Sokira and W. Jaffe, Brushless DC Motors: Electronic Commutation of the Indian National Academy of Engineering, The National Academy of
and Control. New York: Tab, 1989. Science, India, The Institution of Engineers (India), and IETE, and a Life
[3] J. R. Hendershort and T. J. E. Miller, Design of Brushless Permanent- Member of the ISTE, Systems Society of India, and National Institution for
Magnet Motors. Oxford, U.K.: Clarendon, 1994. Quality and Reliability.