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CHAPTER 1

INTRODUCTION

1.1 GENERAL

Electric motors influence almost every aspect of modern living. For

example, refrigerators, vacuum cleaners, air conditioners fans and automatic
car windows etc. In addition, they are also responsible for a very large portion
of industrial process. The Permanent magnet brushless dc (PMBLDC) motor
is becoming popular in various applications because of its high efficiency,
high power factor, high torque, simple control and lower maintenance. BLDC
motor is one type of synchronous motor, which can be operated in hazardous
atmospheric condition and at high speeds due to absence of brushes. In
addition, the ratio of torque delivered to the size of motor is higher, making it
useful in applications where space and weight are critical factors. Most
notably, (compared to dc motors) they are lower maintenance due to the
elimination of mechanical commutator and they have a high-power density
which makes them ideal for high-torque-to weight ratio applications (Miller
1989). Compared to induction machines, they have lower inertia allowing for
faster dynamic response to reference commands. Also, they are more efficient
due to permanent magnets which results in virtually zero rotor losses.
Standard Pulse Width Modulation (PWM) voltage-fed inverters are
commonly being used to control the variable-speed drives such as induction
machines, permanent magnet AC-machines, synchronous reluctance machines
and brushless DC-machines.
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It is inevitable to accept the role of accurate modeling of electric

drive system to achieve desired performance. The increasing load and line
disturbances pose considerable difficulties in performing speed control of
such drives. The design of the BLDCM servo system usually requires a time
consuming trial and error process and fails to optimize the performance. In
practice, the design of BLDCM drive involves a complex process such as
model, devise of control scheme, simulation and parameters tuning. Usually,
the parameters tuning for a servo system involves a sophisticated and tedious
process. Many researchers presented different design approaches and control
structures in designing the digital servo controller, where the PI controller is
very common. The PI controller can be suitable for linear motor control.
However, in practice, many non-linear factors are imposed by the driver and
load, the PI controller cannot be suitable for non-linear system. An adaptive
neuro-fuzzy inference system (ANFIS) based control is a versatile and
effective approach to deal with the non-linear and uncertain system as it
provides the controller parameters at any other loading condition within
predetermined region of operation.

The drive circuits (power converters) fail to serve as ‘clean’

interfaces between electrical systems and motors. In a typical drive system
controlled by closed loop, causes an unpredictable time variable current
distortion which can depreciate the drive performance. In the SHE technique,
certain predominating lower order harmonics are eliminated whereas higher
order harmonics are filtered using suitable filter. Switching angles are
computed by solving the SHE equations, but it is difficult to solve SHE
equations because of their nonlinear characteristics.

Conventional structure of variable-speed drives comprises Six-

Switch Three-phase (SSTP) inverter. The performance and cost-effectiveness
of conventional variable-speed drives is accomplished by reducing the power
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semiconductor switches in the inverter circuit. Four-Switch Three-phase

FSTP inverter fed cost effective BLDC motor drives have been employed
for high performance industrial drive systems. In this approach, instead of
a conventional SSTP inverter, a Four-Switch Three-phase inverter is
utilized. This reduces the cost of inverter, switching losses and complexity of
the control algorithms and interface circuits to generate six PWM logic
signals.

The scope of a power electronics based application is to effectively

utilize the available power, besides improving overall power quality of the
system. It is in this perspective that advancements penetrate to accurately
control the speed, eliminate line current harmonic and minimize the total
harmonic distortion (THD). Accurate modeling forms the basic platform
and the performance study of any system. A well-tuned speed controller
fulfills the modern drive system irrespective of converter topology and motor
type. Suppression of harmonics in power electronic based system becomes
very challenging, filtering and improved PWM methods are the accepted
solutions.

1.2 BLDC MOTOR

Brushed DC motors have been in commercial use since 1886.

BLDC motors, however, have only been commercially possible since 1962.
Limitations of brushed DC motors overcome by BLDC motors include lower
efficiency and susceptibility of the commutator assembly to mechanical wear
and consequent need for servicing, at the cost of potentially less rugged and
more complex and expensive control electronics. A BLDC motor has
permanent magnets which rotate and a fixed armature, eliminating the
problems of connecting current to the moving armature. An electronic
controller replaces brush/commutator assembly of brushed DC motor, which
continually switches the phase to the windings to keep the motor turning. The
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controller performs similar timed power distribution by using a solid-state

circuit rather than brush/commutator [Link] motors develop maximum
torque when stationary and have linearly decreasing torque with increasing
speed as shown in Figure 1.1.

Figure 1.1 Brushless DC Electric Motor Torque-Speed Characteristics

BLDC motors offer several advantages over brushed DC motors,

including more torque per weight, more torque per watt (increased
efficiency), increased reliability, reduced noise, longer lifetime (no brush and
commutator erosion), elimination of ionizing sparks from the commutator
and overall reduction of electromagnetic interference (EMI). With no
windings on the rotor, they are not subjected to centrifugal forces and because
the windings are supported by the housing, they can be cooled by conduction,
requiring no airflow inside the motor for cooling. This in turn means that the
motor's internals can be entirely enclosed and protected from dirt or other
foreign matter.

The maximum power that can be applied to a BLDC motor is

exceptionally high, limited almost exclusively by heat, which can weaken the
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magnets. (Magnets demagnetize at high temperatures, the Curie point and

for neodymium-iron-boron magnets this temperature is lower than for
other types.) BLDC motors are often more efficient at converting electricity
into mechanical power than brushed DC motors. This improvement is largely
due to the absence of electrical and friction losses due to brushes. The
enhanced efficiency is greatest in the no-load and low-load region of the
motor's performance curve. Under high mechanical loads, BLDC motors and
high-quality brushed motors are comparable in efficiency.

In general, manufacturers use brush-type DC motors when low

system cost is a priority but brushless motors to fulfill requirements such as
maintenance-free operation, high speeds, and operation in explosive
environments where sparking could be hazardous.

1.2.1 Construction

Figure 1.2 Disassembled view of a brushless dc motor

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The construction of modern brushless motors is very similar to the

ac motor, known as permanent magnet synchronous motor. Figure 1.2
illustrates the structure of a typical three-phase brushless dc motor. The stator
windings are similar to those in a poly phase ac motor, and the rotor is
composed of one or more permanent magnets. The rotor is made of
permanent magnet and can vary from two to eight pole pairs with alternate
North (N) and South (S) poles. Based on the required magnetic field density
in the rotor, the proper magnetic material is chosen to make the rotor. Ferrite
magnets are traditionally used to make permanent magnets. As the technology
advances, rare earth alloy magnets are gaining popularity. The ferrite magnets
are less expensive but they have the disadvantage of low flux density for a
given volume. In contrast, the alloy material has high magnetic flux density
per volume and enables the rotor to compress further for the same torque.
Also, these alloy magnets improve the size-to-weight ratio and give higher
torque for the same size motor using ferrite magnets. Neodymium (Nd),
Samarium Cobalt (SmCo) and the alloy of Neodymium, Ferrite and Boron
(NdFeB) are some examples of rare earth alloy magnets. Continuous research
is going on to improve the flux density to compress the rotor further.

Figure 1.3 Brushless dc motor = Permanent magnet ac motor +

Electronic commutator
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Brushless dc motors are different from ac synchronous motors in

that the former incorporates some means to detect the rotor position (or
magnetic poles) to produce signals to control electronic switches as shown in
Figure 1.3. The most common position/pole sensor is the Hall element, but
some motors use optical sensors.

1.2.2 Design Aspects of BLDC Motor

BLDC motors can be constructed in several different physical

configurations, In the 'conventional' (also known as 'in-runner') configuration,
the permanent magnets are part of the rotor as shown in Figure 1.4. Three
stator windings surround the rotor. In the 'out-runner' (or external-rotor)
configuration, the radial-relationship between the coils and magnets is
reversed, the stator coils form the center (core) of the motor, while the
permanent magnets spin within an overhanging rotor which surrounds the
core as shown in Figure 1.5. The flat type, used where there is space or shape
limitations, uses stator and rotor plates, mounted face to face. Out runners
typically have more poles, set up in triplets to maintain the three groups of
windings and have a higher torque at low RPMs. In all BLDC motors, the
coils are stationary. A motor with windings in delta configuration gives low
torque at low rpm, but can give higher top rpm. Star configuration gives high
torque at low speed, but not as at high speed.

Although efficiency is greatly affected by the motor's construction,

the star-connected winding is normally more efficient. In delta-connected
windings, half voltage is applied across the windings adjacent to the undriven
lead (compared to the winding directly between the driven leads), increasing
resistive losses. In addition, windings can allow high-frequency parasitic
electrical currents to circulate entirely within the motor. A star-connected
winding does not contain a closed loop in which parasitic currents can flow,
preventing such losses.
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Figure 1.4 In-Runner Components

Figure 1.5 Out-Runner Components

From a controller standpoint, two styles of windings are treated

exactly the same, although some less expensive controllers are designed to
read voltage from the common center of star connected winding.

1.2.3 Types of BLDC Motor

The BLDC motors are classified into various types. The

classification is made according to the arrangement of permanent magnet in
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the rotor. The various type of BLDC motors are classified and as in
Figure 1.6.

Figure 1.6 Types of PMBLDC motor

[Link] PMs mounted on the surface of the rotor

This type of motor is commonly referred to as surface PM (SPM),

and the typical manufacturing technology involves gluing arc magnets and/or
securing them with special tape on the outer surface of a rotor core. While this
technology may be cost effective in conjunction with large ferrite magnets or
with bonded magnet rings, it presents challenges for the sintered NdFeB
designs. In this case, the solution is more complicated because, in order to
cope with thin magnets and to minimize eddy-current losses in the magnets,
multiple smaller magnets are often used to make one pole.

A) Interior Rotor Type Motor

The interior-rotor motor has the closet configuration to that of the

classical AC synchronous machine or the induction motor, although the
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production volumes of exterior – rotor motors are much greater. The stator is
similar to that of three-phase induction motor. Figure 1.7 shows an example
of the interior-rotor configuration. As stated earlier an advantage of the
design is its high torque/inertia ratio.

Figure 1.7 Interior rotor type BLDC motor

However, it has two manufacturing disadvantages:

1. Magnet retention must be carefully implemented so that the

rotor does not fly apart.

2. Although exterior stators are easily cooled, they are expressive

to wind without automatic equipment.

The rotor shaft must be mounted in bearings. It carries a soft iron

yoke which has a polygonal or circular outside surface on which the magnets
are mounted. The yoke is either machined from low-carbon steel, or
assembled from a stack of laminations (which can be punched from the hole
of the stator laminations). Lamination are usually stacked and pressed on to a
light knurl on the shaft to prevent rotation. Magnets are usually affixed to the
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yoke surface with care using clean parts, special adhesives and appropriate
curing. The rotor is often wrapped with Kevlar@ yarn or fitted with a tight-
fitting steel can to restrain the magnets at high speeds. Positive magnet
retention is essential for high-speed rotors. The retaining can is usually non-
magnetic 300 series stainless steel or Inconel@, but magnetic steel cans are
sometimes used even though they increase the rotor leakage.

B) Exterior Rotor Type Motor

The most cost effective use of ferrite magnets in brushless DC

motors requires a configuration with the rotor outside the stator. Figure 1.8
shows the cross-section of a typical motor of this type. The stack of
laminations used for stator looks very similar to the stack of laminations on a
DC brush-type motor armature.

Figure 1.8 Exterior rotor type BLDC motor

Some exterior-rotor brushless motors are used in a fan which is

used to cool electronic equipment. These are very efficient, low-cost,
quiet-running fans with the electronics enclosed on the circuit board within
the motor. The assembly is usually mounted with a grille in an aperture in the
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casing of a computer or other equipment. They are sometimes called “muffin”

fans and are manufactured in very large numbers. The smallest are less than
one inch in diameter. Very long life is required in many of these designs.

Exterior-rotor motors are also used in blowers such as the furnace

in home heating applications. The manufacturer of this motor also makes
exterior-rotor induction motors for fan and blower applications. It was natural
for them to develop a similar exterior-rotor brushless machine for improved
quietness and efficiency. The electronic drive is contained within the end of
the motor. This type of motor fits neatly inside the centrifugal blower wheel
so that the passage of air cools the electronics and relieves the motor of the
heat caused by its losses. There is a similar design for “climate-control”
blower motors in automobiles. In general, exterior-rotor brushless motors are
used for continuous speed applications and the magnet grades are normally
the lower-cost versions of bonded rare-earth, bonded or sintered ferrite
grades. Their popularity continues because of their low cost and case of
manufacture.

C) Pan Cake or Disc Type Motor

There are many applications for which the packaging of the

pancake brushless motor is extremely convenient. These axial-gap motors
normally consist of a steel disc rotor with a magnet shaped like a washer
cemented to one side of the disc. The materials used are either sintered
ferrites or bonded rare-earth. They can be easily magnetized with as many
poles as necessary. The stator usually consists of either printed. Circuit
windings or individual would coils cemented to a printed circuit board. The
magnet is cemented to a steel rotor to which the turntable is mounted. To
ensure smooth low-speed performance an extra magnet ring is located on the
outer periphery of the rotor with many poles magnetized on its rim. A pickup
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coil on the outside of the stator coils generates a tachometer signal for closed-
loop velocity control, creating a very smooth low speed performance

Figure 1.9 Pan Cake or Disc type BLDC motor

There is a very wide variety of configurations for the axial-gap

pancake brushless motor. Figure 1.9 shows one example of pancake motor.
The main advantages of these motors are their low cost, their flat shape, and
smooth rotation with zero cogging. The air gap between the magnet and the
stator back-iron is very large, and this results in high leakage of magnetic
flux. Although this implies an inefficient magnetic circuit design, it is not a
hindrance for the applications utilizing this motor since most of these require
low torque. However, if axial-gap motors are used at speeds much above
1000 rpm. eddy-current losses and heating may be excessive in the steel
plate of the stator. There are possibilities of providing a laminated structure
such as a spiral ribbon of steel or even amorphous iron, wrapped up to form
the stator yoke. It is also possible to eliminate eddy-currents by allowing the
backing place to rotate with the magnets while the stator coils remain
stationary, held by a non-metallic structure. Such techniques have been
adopted for prototypes or R&D demonstrators of axial-gap motors in larger
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sizes, but they can be so complicated as to make the radial-gap motor far
more cost effective in higher-speed, higher-power applications.

[Link] PMs placed in the interior of the rotor core

Interior Permanent Magnet (IPM) motors typically employ less

expensive rectangular blocks, which are placed inside slots made in the
laminated rotor core. Magnet retention is therefore enhanced and yields to
simplifications in the manufacturing process. There are a large variety of
designs for IPM rotors, shown in Figure 1.10 is just the most conventional
version with PM blocks magnetized parallel to the center pole radius.

Figure 1.10 Schematic cross-section of a 4-pole brushless (BL) motor

with surface mounted permanent magnets (PM; left) and of
an interior PM motor (right). (Magnets of North and South
polarity are shown in red and blue).

Another major type of IPM rotor (not shown) employs magnets

placed in a “spoke” arrangement along the rotor radius and magnetized
tangentially. The “spoke” design has the intrinsic advantage of magnetic flux
concentration, so that in high polarity motors the flux density in the motor air-
gap is increased. This leads the way to further performance improvement
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and/or size reduction. Many combinations of the magnet shape, position and
number of magnets per pole is possible for IPM motors. In recent years, A. O.
Smith Corporation has developed proprietary solutions to optimize designs
for different applications.

Better demagnetization withstand is another advantage of IPM

motors. Unlike in the SPM, in which the PM is directly exposed to the
magnetic field of the air-gap, in an IPM the PMs are shielded by the rotor
steel that provides a leakage path for the armature reaction flux. As a
consequence, thinner magnets can be employed, potentially resulting in
material cost savings.

Figure 1.11 Components in Interior Permanent Magnet

The synchronous electromagnetic torque in an IPM motor has two

major components as shown in Figure 1.11. The main component is the
alignment torque, which is proportional with the flux linkage in the stator
windings produced by the rotor magnets and with the vector component of the
stator current that is in quadrature with the magnet flux. This current
component is “active” only, i.e. it produces torque only and does not
contribute to the magnetization of the motor magnetic circuit. In an SPM, this
is the only synchronous component of the electromagnetic torque.
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In an IPM, due to the rotor variable magnetic reluctance, i.e.

saliency, an additional torque component is developed. By means of
electronic control, the torque angle, i.e. the angle between the magnet flux
phasor and current phasor, can be optimally set in order to increase the torque
output for a given current magnitude.

1.2.4 Functioning of BLDC Motor

[Link] Hall sensors

Figure 1.12 Hall effect sensor as a rotor position sensor

(1) Stationary Brushless Motor Winding, (2) Permanent magnet rotor,
(3) 3phase electronically commutated field, (4) 3 magnetic sensors and
(5) The electronic circuit board

Unlike a brushed DC motor, the commutation of a BLDC motor is

controlled electronically. To rotate the BLDC motor, the stator windings
should be energized in a sequence. It is important to know the rotor position
in order to understand which winding will be energized following the
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energizing sequence. Rotor position is sensed using Hall effect sensors

embedded into the stator. Most BLDC motors have three Hall sensors
embedded into the stator on the non-driving end of the motor. Whenever the
rotor magnetic poles pass near the Hall sensors, they give a high or low
signal, indicating the N or S pole is passing near the sensors. Based on the
combination of these three Hall sensor signals, the exact sequence of
commutation can be determined.

Among several sensors for detecting the rotor position, the widely
used Hall sensor is discussed in this section. In some motors, the rotor magnet
is also used as the flux source to expose the Hall elements while some possess
a separate magnet for this purpose. The Hall effect is strong in some specific
metal compounds or semiconductors. Semiconductor devices, which are used
in detecting magnetic fields, are called Hall elements. N-type InSb(indium-
antimony) and GaAs (gallium-arsenide) are extensively used for Hall
elements applied in modern brushless motors.

Figure.1.12 shows a transverse section of a BLDC motor with a

rotor that has alternate N and S permanent magnets. Hall sensors are
embedded into the stationary part of the motor. Embedding the hall sensors
into the stator is a complex process because any misalignment in these hall
sensors, with respect to the rotor magnets, will generate an error in
determination of the rotor position. To simplify the process of mounting the
hall sensors onto the stator, some motors may have the hall sensor magnets on
the rotor, in addition to the main rotor magnets. These are a scaled down
replica version of the rotor. Therefore, whenever the rotor rotates, the Hall
sensor magnets give the same effect as the main magnets.

The Hall sensors are normally mounted on a PC board and fixed to

the enclosure cap on the non-driving end. This enables users to adjust the
complete assembly of Hall sensors, to align with the rotor magnets, in order to
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achieve best performance. Based on physical position of Hall sensors, there

are two versions of output. The Hall sensors may be at 60° or 120° phase shift
to each other. Based on this, motor manufacturer defines commutation
sequence, which should be followed when controlling the motor. Very
common arrangements of Hall ICS for 2 pole and 4 pole machine are shown
in Figure 1.13

Figure 1.13 Arrangement of Hall ICS for 2 pole and 4 pole machine

[Link] Theory of operation

Each commutation sequence has one of the windings energized to

positive power (current enters into the winding), the second winding is
negative (current exits the winding) and the third is in a non-energized
condition. Torque is produced because of interaction between magnetic field
generated by stator coils and permanent magnets. Ideally, the peak torque
occurs when these two fields are at 90° to each other and falls off as the fields
move together. In order to keep motor running, magnetic field produced by
windings should shift position, as the rotor moves to catch up with the stator
field. What is known as “Six-Step Commutation” defines the sequence of
energizing the windings. See the “Commutation Sequence” in Figure 1.14 for
detailed information and an example on six-step commutation.
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Figure 1.14 Commutation Sequence with Waveforms

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[Link] Power supplies

It's helpful to consider three types of motors:

A) Direct current (DC) motor: DC applied to both stator and

rotor (via brushes and commutator), or else a permanent
magnet stator. A BLDC motor has switched DC fed to the
stator and a permanent magnet rotor.

B) Synchronous (or stepping) motor (AC): AC in one, DC in

the other (i.e., rotor or stator). If it has a permanent-magnet
rotor, it is much like a BLDC motor.

C) Induction motor (AC): AC in both stator and rotor

(mentioned for completeness).

Although BLDC motors are practically identical to permanent

magnet AC motors, the controller implementation is what makes them DC.
While AC motors feed sinusoidal current simultaneously to each of the legs
(with an equal phase distribution), DC controllers only approximate this by
feeding full positive and negative voltage to two of the legs at a time. The
major advantage of this is that both logic controllers and battery power
sources also operate on DC, such as in computers and electric cars. In
addition, the approximated sine wave leaves one leg undriven at all times,
allowing for back-EMF-based sensor less feedback.

Vector drives are DC controllers that take extra step of converting

back to AC for the motor, they are sophisticated inverters. The DC-to-AC
conversion circuitry is usually expensive and less efficient, but these have
advantage of being able to run smoothly at very low speeds or completely
stop (and provide torque) in a position not directly aligned with a pole.
Motors used with a vector drive are typically called AC motors. When
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running at low speeds and under load, they don't cool themselves
significantly, temperature rise has to be allowed for.

A motor can be optimized for AC (i.e. vector control) or it can be

optimized for DC (i.e. block commutation). A motor which is optimized for
block commutation will typically generate trapezoidal EMF. One can easily
observe the shape of EMF by connecting the motor wires (at least two of
them) to an oscilloscope and then hand-cranking/spinning the shaft. Another
very important issue, at least for some applications like automotive vehicles,
is the constant power speed ratio of a motor (CPSR). The CPSR has direct
impact on needed size of the inverter.

Example: A motor with a high CPSR in a vehicle can deliver the

desired power (e.g. 40 kW) from 3,000 rpm to 12,000 rpm, while using a
100 A inverter. A motor with low CPSR would need a 400 A inverter in order
to do the same.

1.2.5 Applications

BLDC motors fulfill many functions originally performed by

brushed DC motors, but cost and control complexity prevents BLDC motors
from replacing brushed motors completely in the lowest-cost areas.
Nevertheless, BLDC motors have come to dominate many applications,
particularly devices such as computer hard drives and CD/DVD players.
Small cooling fans in electronic equipment are powered exclusively by BLDC
motors. They can be found in cordless power tools where the increased
efficiency of the motor leads to longer periods of use before the battery needs
to be charged. Low speed, low power BLDC motors are used in direct-drive
turntables for "analog" audio discs.
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A) Transport

High power BLDC motors are found in electric vehicles and hybrid
vehicles. These motors are essentially AC synchronous motors with
permanent magnet rotors.

The Segway Scooter and Vectrix Maxi-Scooter use BLDC

technology.

A number of electric bicycles use BLDC motors that are sometimes

built into the wheel hub itself, with the stator fixed solidly to the axle and the
magnets attached to and rotating with wheel. The motor is wheel hub of
bicycle. This type of electric bicycle also has a standard bicycle transmission
with pedals, sprockets, and chain that can be pedaled along with or without,
the use of motor as need arises.

B) Heating and ventilation

There is a trend in the HVAC and refrigeration industries to use

BLDC motors instead of various types of AC motors. The most significant
reason to switch to a BLDC motor is the dramatic reduction in power required
to operate them versus a typical AC motor. While shaded-pole and permanent
split capacitor motors once dominated as the fan motor of choice, many fans
are now run using a BLDC motor. Some fans use BLDC motors also in order
to increase overall system efficiency.

In addition to the BLDC motor's higher efficiency, certain HVAC

systems (especially those featuring variable-speed and/or load modulation)
use BLDC motors because the built-in microprocessor allows for
programmability, better control over airflow and serial communication.
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C) Industrial Engineering

Industrial engineering is a broad area of engineering that includes

design, manufacturing, computer control, automation and human factors
integration. The application of brushless DC (BLDC) motors within industrial
engineering primarily focuses on manufacturing engineering or industrial
automation design. In manufacturing, BLDC motors are primarily used for
motion control, positioning or actuation systems.

BLDC motors are ideally suited for manufacturing applications

because of their high power density, good speed-torque characteristics, high
efficiency and wide speed ranges. But their low maintenance is perhaps the
greatest advantage in manufacturing environment. Since BLDC motors due
not have a commutator or brushes, they last much longer and require much
less maintenance than brushed DC motors.

D) Motion Control Systems

BLDC motors are commonly used as pump, fan and spindle drives
in adjustable or variable speed applications. They can develop high torque
with good speed response. In addition, they can be easily automated for
remote control. Due to their construction, they have good thermal
characteristics and high energy efficiency. To obtain a variable speed
response, BLDC motors operate in an electromechanical system that
includes an electronic motor controller and a rotor position feedback sensor.
The motor controller electronically commutates the motor by providing a
pulse width modulated (PWM) output that is based on the speed set point and
the actual rotor position to ramp the motor's speed up or down as required by
the load.
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E) Positioning and Actuation Systems

BLDC motors are used in industrial positioning and actuation

applications. For assembly robots, brushless stepper or servo motors are used
to position a part for assembly or a tool for a manufacturing process, such as
welding or painting. Rather than the rotary output of BLDC motors used in
motion control applications, BLDC linear actuators drive a ball screw to
obtain a linear output that closes a switch to enable a component in a
manufacturing process. BLDC motors are commonly used as linear actuators
for valve control.

1.2.6 Recent Trends

BLDC motors are a popular motor choice for model aircraft

including helicopters. Their favourable power to weight ratios and large
range of available sizes, from under 5 gram to large motors rated at thousands
of watts, have revolutionized the market for electric-powered model flight.
Their introduction has redefined performance in electric model aircraft and
helicopters, displacing virtually all brushed electric motors. They have also
encouraged a growth of simple, lightweight electric model aircraft, rather than
the previous internal combustion engines powering larger and heavier models.
The large power to weight ratio of modern batteries and brushless motors
allows models to ascend vertically, rather than climb gradually. The low noise
and lack of mess compared to small glow fuel internal combustion engines
that are used is another reason for their popularity.

Legal restrictions for the use of combustion engine driven model

aircraft in some countries have also supported the shift to high-power electric
systems.
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Their popularity has also risen in the radio controlled car, Buggy,
and Truck scene, where sensor-type motors (with an extra six wires,
connected to Hall effect sensors) allow the position of the rotor magnet to be
detected. Brushless motors have been legal in RC Car Racing in accordance
to ROAR (the American governing body for RC Car Racing), since 2006.
Several RC Car Brushless motors, feature replaceable and upgradeable parts,
such as sintered neodymium-iron-boron (rare earth magnets), ceramic
bearings, and replaceable motor timing assemblies. These motors as a result
are quickly rising to be the preferred motor type for electric on and off-road
RC racers and recreational drivers alike, for their low maintenance, high
running reliability and power efficiency (most Sensored motors have an
efficiency rating of 80% or greater).

1.3 LITERATURE SURVEY

High efficiency due to reduced losses, low maintenance and low

rotor inertia of the PMBLDC motor have increased demand of PMBLDC
motors in high power servo and robotic applications. The performance
evaluation of BLDC drive underlines the importance of developing analytical
tools for modeling the controller and the permanent magnet machine. Due to
their favorable electrical and mechanical properties, high starting torque, high
efficiency, and the ease with which they can be controlled, BLDC motors are
used in most servo applications in actuation, robotics, machine tools and
positioning devices. In recent years, different controllers have been applied to
the control of high-performance motor drives.

1.3.1 Modeling

Two models have been presented together to show that the d, q

model is sufficient to study the PMSM in detail while the abc model should
be used in order to study the BDCM (Pillay et al 1988). The modeling,
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simulation and analysis of a BDCM drive are described in the two part paper
(Pillay et al 1988). Particular attention was paid to the motor large- and small-
signal dynamics and motor torque pulsations. The simulation included the
state space model of the motor and speed controller and real-time model of
the inverter switches. Every instance of a power device turning on or off was
simulated to calculate the current oscillations and resulting torque pulsations.

The mathematical model has been developed in the de facto

industry standard MATLAB environment, allows design engineers a quick
investigation into the performance of the system when variations such as load
or sampling rate of the digital controller occur (Luk et al 1994). A user-
friendly interface to the input of simulation parameters has been incorporated.
The modular approach adopted facilitates program maintenance and further
development. An accurate mathematical model of a three phase brushless
motor drive (BLMD) system, based on physical principles, has been presented
by Guinee (1999) for simulation in performance prediction studies of
proposed embedded drive systems. This model can also be deployed for
parameter identification of the adjustable speed drive (ASD) dynamics in
optimal PID controller design and in adaptive system control.

The torque characteristic of BLDC motor is very important factor

in the design of motor drive system. So, the prediction of precise value of
torque will be the prime step in performance analysis, which is generally done
from the back EMF waveform. The conventional simulation model of BLDC
motor, which is obtained by approximation of real back EMF waveform to
ideal trapezoidal waveform deviates from the actual one since the design
variance causes change in shapes of slot, skew angle and magnet advance
angle. Hence the real back EMF waveform is at some degree deviated from
the ideal trapezoidal waveform and as a result, when using the ideal
trapezoidal waveform, the error occurs. In consequence, in order to lessen
 27

such an error, the model of BLDC motor with real back EMF waveform is
needed instead of its approximation model. The reduction of error has been
successfully done in a simulation through a new simulation model of BLDC
motor with nearly real back EMF waveform is proposed (Jeon et al 2000).

The complete model of the BLDC drive with sensor less control
has been developed, which is applicable equally well for PMSM also. The
team utilized the Visual C++ as tool and extensive simulations have been
carried out and the results validated the control principle (Marcian Cirstea et
al 2004). The d-q equivalent-circuit models for surface-mounted permanent-
magnet motors have been presented and validated through tests on a motor
with neodymium-iron-boron magnets built in a 5-hp induction motor frame.
Experimental results from the test motor show that an essentially linear
relationship exists between torque and stator current, up to six times rated
current, where the torque is about nine times its rated value as an induction
motor (Tomy Sebastain 1989).

1.3.2 Speed Controllers

Digital signal processor (DSP) based closed loop control of

PMBLDCM drive has been implemented with single current sensor in dc link
and PWM current controller to result in cost effective drive (Kumar et al
2005). The satisfactory performance of proposed control scheme of the drive
has been substantiated through simulation and experimental results viz.
response during starting and load application. Robust output tracking control
of a linear brushless DC motor for transportation within manufacturing
system has been presented (Shieh et al 2002). System identification for a
linear motor with a driver is performed by a dynamic signal analyzer, thus
providing a linearized model for the motor. External disturbances corrupting
the driver and modelling uncertainties due to payload variations and
 28

identification errors are considered. A tracking control scheme with a

guaranteed H, tracking performance is proposed. It is shown that a state
feedback control law achieving the desired objective can be obtained by
solving a Riccati matrix equation. Computer simulation and experimental
implementation are completed and compared.

Variable sampling is important issue for the motor drives with low
resolution position sensors. A Fuzzy PI controller for brushless dc (BLDC)
motors considering variable sampling effect has been presented and this
controller uses three fuzzy logics and three PI controllers to achieve variable
sampling control (Cheng-Tsung Lin et al 2007). Therefore, the simple
structure of the fuzzy PI controller for BLDC motors considering variable
sampling effect is not only implemented and understood easily, but also
robust in variable speed control system. The control of a BLDC motor, using
bit-streams has been presented (Nitish Patel et al 2008). Bi-polar signals are
represented using a uniformly weighted bit-stream which can be manipulated
using simple digital logic to create a variety of control actions. The functional
elements required for the implementation of a PI controller to affect speed and
torque control on a BLDC motor are well defined. Preliminary experimental
results on a standard BLDC motor using an Alter a field programmable gate
array (FPGA) are presented and show the viability of this technique.

The BLDC motors are kind of electrical motors, which are the
typical example of highly coupled, nonlinear systems. The developed an
intelligent agent based ANFIS to perform Non-linear Auto-Regressive
Moving Average with exogenous input (NARMAX) system identification of
BLDC motor performs well (Mohammad Reza Faieghi et al 2010). At first we
used exhaustive search technique to select the ANFIS inputs, and then by
using Fuzzy C-Means (FCM) algorithm, an ANFIS has been performed to
 29

approximate the motor characteristics. Particle Swarm Optimization (PSO)

optimization algorithm based parameter tuning scheme for PID controller has
also been developed.

The study and analysis of the fuzzy and PI control system applying
to BLDC motor have been presented (Tan CheeSiong et al 2010). Even
though the most commonly used controller for dc motor controller system is
PI controller, it has some disadvantages such as high starting overshoot,
sensitivity to controller gains and sluggish response due to sudden load
disturbance. Further, fuzzy control is proposed and the performance of fuzzy
controller is compared with PI controller. Simulation result are presented and
analyzed for both fuzzy and PI controllers. It is observed that fuzzy logic
based controlled give better responses than traditional PI controller for the
speed control of dc motor drives.

The modeling and simulation of BLDC motor have been done

using software package MATLAB/SIMULINK (AtefSaleh Othman Al-
Mashakbeh 2009). A speed controller has been designed successfully for
closed loop operation of BLDC motor so that motor runs very closed to
reference speed. The simulated system has a fast response with small
overshoot and zero steady state error.

A sliding-mode controller with an integral-operation switching

surface has been adopted to control position of an induction servo motor drive
(Wai et al 1999). Moreover, to relax the requirement for the bound of
uncertainties, a fuzzy neural network (FNN) sliding-mode controller is
investigated, in which FNN is utilized to estimate the bound of uncertainties
real-time. Theoretical analyses for proposed FNN sliding-mode controller are
described in detail. In addition, to guarantee convergence of tracking error,
analytical methods based on a discrete-type Lyapunov function are proposed
 30

to determine varied learning rates of FNN. Comparing with sliding-mode

controller, smaller control effort results and the chattering phenomenon is
much reduced by proposed FNN sliding-mode controller.

Constant-frequency sliding-mode and linear PI cascaded controllers

(internal current loop and external output voltage control loop) for 12-pulse
thyristor rectifiers have been designed, using new models and convenient
assumptions and their performance compared (S´onia Ferreira Pinto 1999).
The use of sliding-mode control on line-commutated power converters
implies the use of fixed-frequency sliding-mode design, originating steady-
state errors. These are eliminated using a higher order switching function,
with fourth-order Bessel polynomial coefficients, to minimize the response
time and to eliminate overshoot in the reaching mode. Comparisons are made
using simulations (MATLAB/SIMULINK blocks) and experimental results.
The sliding-mode controllers, as well as PI controllers, need almost the same
hardware and present no steady-state errors and no output voltage overshoots.
Besides allowing a faster dynamics than PI controllers, the proposed sliding-
mode approach provides a new, nonlinear theoretical frame for solving the
control problem of power rectifiers with output filters.

A novel self-adjustable fuzzy sliding mode control for squirrel cage

induction motor drive systems with a voltage source inverter has been
proposed (Li Ying 2000). According to principle of fuzzy logic control (FLC)
and sliding mode control (SMC), the theory of this new fuzzy sliding mode
control is presented and a mathematical description for induction motor is
derived. The SMC is used to achieve robust performance against parameter
variations and external disturbances. In order to reduce or overcome the
system chattering owing to sliding mode control, a fuzzy control law is
employed to draw the system state variables into a pre-specified bounds of
sliding mode surface and the stator voltage of a induction motor is designed to
 31

be the control variable in accordance with inverter. Furthermore an

experimental device is set up. The experimental results show the good
robustness and self-adaptability as well as superior dynamic-static
performance of proposed scheme.

An adaptive sliding-mode control system has been proposed to

control the position of an induction servo motor drive (Wai 2002). A newly
designed total sliding-mode control system, which is insensitive to
uncertainties including parameter variations and external disturbance in the
whole control process, is introduced. The total sliding-mode control
comprises the baseline model design and the curbing controller design. In the
baseline model design a computed torque controller is designed to cancel the
nonlinearity of total nominal plant.

A sliding-mode recurrent fuzzy neural network control

(SMRFNNC) has been proposed to control the mover of a permanent-magnet
linear synchronous motor (PMLSM) servo drive so as to track a periodic
sinusoidal reference trajectory (Lin et al 2004). The PMLSM drive system is
identified by a recurrent fuzzy neural network identifier (RFNNI) to provide
sensitivity information of drive system to a recurrent fuzzy neural network
controller (RFNNC). A sliding-mode adjuster (SMA) is determined according
to the sliding mode condition. Then, the SMA is back propagated through the
RFNNI to train the parameters of RFNNC online. Simulated and experimental
results show that the control effort and chattering of the SMRFNNC are
smaller than those of sliding-mode control. Moreover, a robust control
performance is achieved when uncertainties occur including a nonlinear
friction force.

A FPGA based adaptive back stepping sliding-mode controller is

proposed to control the mover position of a linear induction motor (LIM)
 32

drive to compensate for the uncertainties including the friction force

(Faa-Jeng Lin et al 2007). The uncertainties are lumped and the upper bound
of lumped uncertainty is necessary in the design of back stepping
sliding-mode controller. However, the upper bound of the lumped uncertainty
is difficult to obtain in advance of practical applications. Therefore, an
adaptive law is derived to adapt the value of lumped uncertainty in real time
and an adaptive back stepping sliding-mode control law is the result. With the
adaptive back stepping sliding-mode controller, the mover position of
FPGA-based LIM drive possesses the advantages of good transient control
performance and robustness to uncertainties in tracking of periodic reference
trajectories.

A Fuzzy Logic Speed Controller (FLSC) for variable speed drives

using current controlled brushless dc motors has been presented
(Donescu et al 1996). The FuzzyLogic approach applied to speed control
leads to an improved dynamic behaviour of motor drive system and an
improved immunity to load perturbations and parameter variations. The FISC
is designed using a simple algorithm based on a supposed analogy between
control surfaces of FLSC and a given PI controller for the same application.
Simulation results are presented to show the performance of proposed FLSC.

The mathematical modeling of a PMBLDC motor, considering the

non-linearities in torque-balance equation under closed loop operation with a
set reference speed and ANFIS based controlled have been developed
(Ushakumari et al 2001). Required data for training the ANFIS controller is
generated by simulation of the closed loop system with the conventional PID
controller. The overshoot present in transient response with the conventional
controller is eliminated using ANFIS controller. The transient deviation of the
response from the set reference following variation in load torque is found to
 33

be negligibly small dong with desirable reduction in settling time for

ANFIS controller.

A speed controller based on the adaptive fuzzy tuning method for

BLDC motor drives under load variations has been presented (Chung-Jin
Kwon et al 2003). Generally, speed tracking control systems use PI controller
due to its simple structure and easy of design. PI controller, however, suffers
from the electrical machine parameter variations and disturbances. In order to
improve the tracking control performance under load variations, PI controller
of which the parameters are moved during operation by adaptive fuzzy tuners.
This adaptive fuzzy tuner based on optimal fuzzy tuner has simple structure
and computational simplicity. Also it has self-tuning characteristics with
clustering. It needs only sample data which is obtained by optimal controller
off-line. As the sample data implemented in the adaptive fuzzy tuners can be
modified or extended, a flexible control system can be obtained.

The architecture and learning procedure underlying has been

presented, which is a fuzzy inference system implemented in the framework
of adaptive networks (Jyh-Shing Roger Jang 1993). By using a hybrid
learning procedure, proposed ANFIS can construct an input-output mapping
based on both human knowledge (in the form of fuzzy if-then rules) and
stipulated input-output data pairs.

1.3.3 Harmonic Elimination

A tutorial that introduces the LMS (least mean squares) and RLS
(recursive least-squares) algorithm for the design of adaptive transversal
filters has been presented (Christian et al 2005). In practical application, the
statistical characteristics of signal and noise are usually unknown or can't
have been learned so that fixed coefficient digital filter is hardly designed. In
allusion to this problem, theory of the adaptive filter and adaptive noise
 34

cancellation are researched deeply. According to the LMS and the RLS
algorithms realize the design and simulation of adaptive algorithms in noise
canceling and compare and analyze the result then prove the advantage and
disadvantage of two algorithms. Simulation of the adaptive filter with
MATLAB has been given and the results prove its performance is better than
the use of a fixed filter designed by conventional methods (Ying He et al
2008).

Although normalized LMS (NLMS) algorithm is robust, it suffers

from low convergence speed if driven by highly correlated input signals. An
alternative method exsists to overcome this problem is the Ozeki/ Umeda
affine projection (AP) algorithm. The algorithm applies update directions that
are orthogonal to the last P input vectors and thus allows decorrelation of an
AR(P) input process, speeding up the convergence. A simple approach to
show this property, which furthermore leads to the construction of new
algorithms that can handle other kinds of correlations such as MA and ARMA
processes has been presented (Markus Rupp 1998).

1.3.4 Component Reduced Drives

Possibilities for minimizing component cost in variable speed

drives with frequency control by solid-state converter have been investigated
(Heinz W. Van Der Broeck et al 1984).It is shown that in a three-phase
system voltage and frequency control of a three-phase squirrel-cage machine
may be attained by PWM of the output of a simplified bridge inverter with
only four switches. As the phase voltages are in principle asymmetrical, this
technique is called phase asymmetric PWM (PAPWM). These results prove
that a PAPWM system with a B4 bridge can be operated to give the same
operational drive characteristics as a B6 bridge with PWM.
 35

A new converter topology has been proposed for driving a BLDC

Motor with unipolar currents (Tilak Gopalarathnam et al 2001). It is based on
a Single-Ended Primary Inductance Converter (SEPIC) operating in the
discontinuous conduction mode. In this operation mode, it approximates a
voltage follower and the line current follows the line voltage waveform to a
certain extent. The reduction in low-order harmonics and improved
displacement power factor is achieved without the use of any voltage or
current sensors. The simplicity and reduced parts count of the proposed
topology make it an attractive low cost choice for many variable speed drive
applications.

The direct torque control (DTC) technique for BLDC motors with
non-sinusoidal back-EMF using four-switch inverter in the constant torque
region has been developed (Salih Baris Ozturk 2008). This approach
introduces a two phase conduction mode as opposed to the conventional
three-phase DTC drives. A theoretical concept is developed and the validity
and effectiveness of the proposed two phase conduction four switch DTC
scheme are verified through the simulations and experimental results.

Principle of an ANFIS with supervisory learning algorithm is

introduced and is used to regulate the speed of a FSTP Inverter BLDC drive
(Halvaei Niasar 2006). The proposed algorithm has advantages of neural and
fuzzy networks. To enhance of drive's performance, instead of well-known
back propagation learning method, a fuzzy based supervisory learning
algorithm is used. A low cost four-switch BLDC motor drive for commercial
applications has been described (Byoung-Kuk Lee 2003). For effective
utilization of the developed system, a novel direct current controlled PWM
scheme is designed and implemented to produce the desired dynamic and
static speed–torque characteristics. Also, the feasibility of the four-switch
converter is extended to two-phase BLDC motor drives and the six-switch
 36

converter for power factor correction and speed control. The operational
principle of the four-switch BLDC motor drive and the developed control
scheme are theoretically analyzed and the performance is demonstrated by
both simulation and experimental results.

A new switching technique for Direct Torque Control of Induction

Motor using Four-Switch Three Phase Inverter (DTC-FSTPI-IM) for low
power applications has been presented (Phan QuocDzung Le Minh Phuong
2007). The modified switching table in this method is based on the principle
of similarity between FSTPI and SSTP inverter. This approach allows using
the well-knowing established switching table of SSTPI for FSTPI, in order to
reduce torque ripples in comparison with the conventional DTC method for
FSTPI. A general PWM method for control of four-switch three-phase
inverters has been presented (MaurícioBeltrão de RossiterCorrêa et al 2006).
The proposed vector PWM offers a simple method to select three or four
vectors that effectively synthesize the desired output voltage, even in presence
of voltage oscillations across the two dc-link capacitors. The method utilizes
the so called space vector modulation and includes its scalar version.
Different vector combinations are compared. The effect of Wye and delta
motor winding connections over the pulse width modulator is also considered.
The common mode voltage generated by the four-switch three-phase
converter is evaluated and compared to that provided by the standard six-
switch three-phase inverter.

A position sensor less control scheme for FSTP BLDC motor

drives using a FPGA has been described (Cheng-Tsung Lin et al 2008).
A novel sensor less control with six commutation modes and novel pulse
width modulation scheme is developed to drive FSTP BLDC motors. The low
cost BLDC driver is achieved by the education of switch device count, cost
down of control and saving of hall sensors. The feasibility of the proposed
 37

sensor less control for FSTP BLDC motor drives is demonstrated by analysis
and experimental results. An adaptive space vector modulation (SVM)
approach to compensate the dc-link voltage ripple in a B4 inverter has been
proposed (FredeBlaabjerg 1999). The theory, design and performance of this
PWM method are presented and the method effectiveness is demonstrated by
extensive simulations and experiments. High-quality output currents are
guaranteed by this approach even with substantial dc-voltage variations that
might be caused by an unbalanced ac supply system, the diode rectification of
the line voltages and circulation of one output phase current through the split
capacitor bank. It is concluded that the dc-voltage ripple effect on the B4
inverter output can be minimized by an adaptive SVM algorithm with the
advantage of improving the response of the dc-link filter and the output
quality of the inverter becoming high.

1.4 PROBLEM DEFINITION AND OBJECTIVES

1.4.1 Problem Definition

Speed controllers play a vital role in deciding the performance of

drive systems. If the response graphs of both speed and torque are obtained,
indices viz. peak over shoot, starting inrush current etc, are analytically
computed. It is evident that the well-tuned PI controllers used in BLDC drives
offers better results than open loop. However, PI controllers cannot be
considered as an optimal control for many applications,
because still better performance can be obtained. Therefore, there is a need
to adapt other controllers that will enable the drive perform better. It is in
this direction that two controllers, SMC and ANFIS are employed to elevate
the performance of PMBLDC drives.

The BLDC motor drive input current waveforms are usually non-
sinusoidal in nature and as such contain harmonics, which may lead to
 38

reduced efficiency and de-rating of the drive performance. Besides, in any

drive system, changes in load current value and pattern may influence
the distortion level. The objective is to propose an on line self-adaptive
current harmonic elimination strategy suitable for BLDC motor drive,
which offer an improved performance in comparison to the existing switching
patterns in terms of suppressing lower order harmonics and THD.

The high switch count and hence the difficulty in achieving the
higher efficiency in existing voltage source inverter structure have prevented
their wide acceptance in practical applications. Therefore, there arises a need
to develop a topology with lesser number of components and reduced size.
FSTP inverter is employed for speed control

1.4.2 Methodology of Research Work

The validation of developed mathematical model of drive

system is done using Matlab/Simulink simulation at different operating
condition. The nonlinear simulation model of BLDC motors drive system
with PI, SMC and ANFIS controller is also simulated in the MATLAB/
Simulink platform. The simulated results viz. electromagnetic torque and
rotor speed are given.

The direct control PWM in case of FSTP inverter fed BLDCM

drive is implemented in DSP processor TMS320LF2407A. The Texas
instruments TMS320LF2407 DSP controller is a programmable digital
controller with a C2XX DSP central processing unit (CPU) as the core
processor. The LF2407 contains the DSP core processor and useful
peripherals integrated onto a single piece of silicon. It combines powerful
CPU with an on-chip memory and peripherals. The proposed LMS and RLS
adaptive filtering algorithms are transferred as Simulink schematic accurately
 39

and simulated. The representative cases of results are verified through

LF2407 base implementation.

1.4.3 Objectives

The main objectives of this thesis include

(i) Modeling and simulation of electromechanical systems with

BLDC drives are essential steps at the design stage of such
systems. For the purposes of stability analysis and controller
design, it is often desirable to investigate the large-signal
transients and small-signal characteristics of the system.
Simulation studies are also often performed many times to
achieve the required design goals. In this study, the nonlinear
simulation model of the BLDC motors drive system in
MATLAB/Simulink platform is presented. The simulated
results in terms of electromagnetic torque and rotor speed are
given.

(ii) Using the developed model of BLDC motor, a detailed

simulation and analysis of a BLDC motor speed servo drive is
obtained. Closed loop control of PMBLDC motor drive
consisting of PI speed controller and hysteresis current
controller is simulated and compared with the hardware
implementation. The performance of ANFIS and SMC
controllers are also studied using simulation.

(iii) Developing an adaptive algorithm to eliminate unwanted

lower order dominant current harmonic components present in
PMBLDC motor drive is an another goal. The proposed LMS
based approach can eliminate an even or odd arbitrary number
 40

of harmonics without any penalties in the switching frequency

and also has suitability to implement even when the drive is
partially loaded. The proposed algorithm for the BLDC motor
drive is tested in MATLAB/SIMULINK [Link]
proposed DPWM techniques have been implemented in real
time using Texas Instrument TMS320F2812 DSP Processor,
intelligent power modules and was programmed through the
software VisSim. The DSP board is integrated interfacing
communication board. The PC is connected to the DSP board
through printer parallel port. The DSP board is connected
through cable to the Inverter intelligent power modules.
Current sensors are used for feedback purposes. The code is
run using Code Composer studio CCS 3.2V, and the output
file thus created, then converted to the ASCII file which is
loaded to the DSP for further processing.

(iv) Providing an additional alterative adaptive scheme based RLS

algorithm to eliminate unwanted lower order dominant current
harmonic components present in the PMBLDC motor drive.
The RLS algorithm has established itself as the "ultimate"
adaptive filtering algorithm in the sense that it is the adaptive
filter exhibiting the best convergence behavior. Based on in-
depth study of adaptive filter, the recursive least squares are
applied to harmonic elimination problems by employing the
steepest descent method for weight updating. The proposed
Adaptive Selective Current Harmonic Cancellation (ASCHC)
algorithm for BLDC motor drive is tested in MATLAB/
SIMULINK simulation.
 41

(v) Analyzing fundamental operation of FSTP inverter fed

BLDC motor drive. The developed the nonlinear simulation
model of the BLDC motors drive system is used for
proportional-integral (PI) control. The simulated results in
terms of electromagnetic torque and rotor speed are given.
Also the FSTP based drive system implemented in hardware.

1.5 SUMMARY OF THE CHAPTERS

Chapter 1 Introduction to BLDC Drive Performance study

The merits of the BLDC motor drive in domestic and industrial

applications are highlighted in chapter [Link] also provides the role of
various closed loop controllers with performance indices. The chapter
includes the review of the literature, problem definition, outlines the research
objectives and the organisation of the thesis.

Chapter 2 Modeling of BLDC Motor

The nonlinear simulation model of the BLDC motors drive system

is developed and validated in the MATLAB/Simulink platform in the second
chapter. The designed trapezoidal BLDC motor based drive system has the
closed-loop speed control, in which PI algorithm is adopted and the position
determination is done through hysteresis current control. The simulated
results in electromagnetic torque and rotor speed are given.

Chapter 3 Performance Analysis with PI, ANFIS and Sliding Mode

Controllers

Systematic mathematical expressions relating drive modeling and

results of speed control by considering standard disturbances are obtained for
 42

ANFIS and sliding mode controllers presented in Chapter 3. The designed

controllers are also corroborated experimentally in a digital signal processor
based prototype.

Chapter 4 Selective Current Harmonic Elimination Using RLS Algorithm

This chapter describes the concept of RLS based adaptive current

harmonic elimination for the PMBLDC motor drive. In the proposed RLS
adaptive filtering algorithm, the reference input is adaptively selected and
subtracted from the line current. The performance of RLS algorithm is
compared with LMS algorithm. The simulation results demonstrate the good
performance of the proposed algorithm in eliminating selected harmonics in
the drive line current.

Chapter 5 Selective Current Harmonic Elimination Using LMS Algorithm

An adaptive selective current harmonic cancellation (ASCHC)

scheme for the PMBLDC motor drive is presented in Chapter 5. The proposed
LMS adaptive filtering algorithm to eliminate selective line current harmonics
is one among the methods of adaptive noise cancelling in digital signal
processing. The harmonic cancellation task is accomplished by generating
reference signal with frequency that should be eliminated from the motor line
current. The weights of adaptive filter are adjusted to totally eliminate the
component with undesired frequency. In consequence, the proposed
methodology also reduces the input current THD. The triumph of the
algorithm is validated by MATLAB/SIMULINK toolbox and hardware
prototype for simultaneous elimination of fifth and seventh harmonics in the
drive line current.
 43

Chapter 6 CR-PWM for Four-Switch BLDCM Drives

The performance of direct current controlled PWM (DCC-PWM)

based control of FSTP inverter feeding PMBLDC motor is evaluated in sixth
chapter. A MATLAB/Simulink model for the FSTP fed PMBLDC motor is
developed and tested with direct current controlled PWM method. The
triumph of the DCC-PWM in obtaining desired speed-torque characteristics is
validated with help of simulation results. The DCC-PWM is also
implemented with proportional-integral controller using TMS320LF2407
digital signal processor.

Chapter 7 Conclusion

Salient features of the work carried out and the major contributions
are summarized. Mathematical modeling of the complete BLDC drive system
and its validation in Matlab/Simulink has been [Link] performance of
the drive system has been evaluated for PI, ANIFS and SMC controllers and
algorithm based on speed controllers has revealed that the behavior of the
PMBLDC motor drive system work satisfactorily. The simulated results in
electromagnetic torque and rotor speed have been studied. It has been
observed that the time to reach the steady state increases by increasing the
moment of inertia. However, other controlled parameters remain well within a
narrow limit. It can be concluded that, the developed controller has
reasonably robust speed characteristics against parameters and inertia
variations.

Two novel current harmonic elimination techniques for BLDC

motor drive have been presented for the first time. The proposed adaptive
digital signal processing filtering algorithms for selective current harmonic
elimination feature unconstrained SHE, have neither load nor system
dependency. In addition to the harmonic elimination property, these
 44

algorithms are very much successful in reducing the THD also. The hardware
implementation of LMS algorithm utilized VisSim software for generating
C-Code. That is, the developed algorithm is converted in to C-code in VisSim
and downloaded to DSP controller board through emulator. The performance
of direct current controlled pulse width modulation (DCC-PWM) based
control of four-switch three-phase (FSTP) inverter feeding PMBLDC has
been investigated both in simulation and hardware implementation.