Speed control of BLDC motor
using PI and PID controller
Summited to
Dr. Ravindra K. Singh
Presenting by:Rahul Sharma
Power electronics
and drive
Content
Introduction.
Basic diagram of BLDC motor.
Advantage of BLDC motor.
mathematic modeling of BLDC motor.
Speed control of BLDC.
PI controller.
PID controller.
Comparison between PI and PID controller.
Conclusion.
References.
Introduction
BLDC motor has a rotor with permanent magnets and a
stator with windings.
The Brushless DC motor is driven by rectangular or
trapezoidal voltage strokes coupled with the given
rotor position.
The commutation takes place electronically.
Basic diagram of BLDC motor
Advantage
Reliability.
High dynamic efficiency.
Low maintance .
Less electrical noise.
Better speed and torque characteristics.
Low losses.
MATHEMATICAL MODELING OF BLDC
Motor
BLDCM can be modeled in the three phase abc variables
which consist of two parts.
1. Electrical part which calculates the electromagnetic
torque and current of the motor.
2. The other is the mechanical part, which generates
revolution of the motor
The following assumptions are made:
1. Ignore the core saturation, as well as eddy current losses
and hysteresis losses.
2. Ignore the armature reaction.
3. Power switches and flywheel diode of the inverter circuit
have ideal switching feature
BLDC motor can be expressed in the matrix form
as:
If there is no change in rotor reluctance with angle
because of a non-salient rotor, and assuming three
symmetric phase,
.(2)
From the equation (2), phase voltage for phase a,
Va can be derived as
The stator phase currents are constrained to be
balanced
ia+ib+ic=0
The phase voltage of phase b and c, Vb and Vc can be
written similarly as given below
Equivalent circuit diagram of bldc motor
The torque can be expressed as
The mechanical part of the motor can be
modeled as
where, J is the moment of inertia in kg-m2, B is
the frictional coefficient in N-mms/rad. Tl is load
torque in Nm.
The trapezoidal back-EMF wave forms are modeled as a
function of rotor position so that rotor position can be actively
calculated according to the operation speed.
Speed control of BLDC motor
Current controller
PI Controller
The transfer function of the most basic form of PI
controller is,
Kpis the proportional gain and Ki is the integral
gain.
Pi controller conti.
Proportional controller produces offset error.
Integral controller reduces offset error.
So we have to maintain KP and KI values for
stability.
Proportional action increases the loop gain
Makes the system less sensitive to variations
of system parameter.
The integral action eliminates or reduces the
steady state error
PID Controller
The transfer function of the most basic form of PID controller is
Kp is the proportional gain, Ki is the integral gain and Kd is the derivative gain
PID controller cont.
Proportional controller stabilizes the gain but
produces a steady state error
Integral controller reduces the rise time,
causes an overshoot, increases the settling
Time and most importantly eliminates the
steady state error.
Important function of Kd is to reduce
overshoot and reduce settling time.
Comparison
Overshoot and settle time is less in PID
controller compare to PI controller.
PID controller is more stable , easy adjustment
and high reliable then PI controller.
Conclusion
Due to non linearity of BLDC motor these
controller faced problem.
Non linearity arises due to change in load,
drive inertia.
For better performance, used some intelligent
techniques with these controller.
PI or PID controller + fuzzy logics.
References
Atef Saleh Othman, Proportional Integral and
Derivative Control of Brushless DC Motor,
European Journal of Scientific Research,
volume 35, pp. 198-203.
2012 IEEE International Conference on Power
Electronics, Drives and Energy Systems
December16-19, 2012, Bengaluru, India
