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by Rahman et al. [18]. Also this method used for some other
electric drives control, successfully [19, 20]. Based on the
above mentioned evidence of the emotional control
approaches in computer and control engineering and
presenting modified models of BLBIC, it can be concluded
that the application of emotion in systems could by its simple
and unique control design, overcome the problems of nonlinear system acceptably.
The paper is organized as follows; at first, the mathematical
model of an equivalent dc brush motor of the PMBLDC
motor is presented in Section II. Then in section III the
structure of the novel intelligent controller is explained. The
block diagram of the control system is described in section IV
and the simulation results are presented and discussed in
section V. Finally, the conclusion is represented in section VI.
II.
r (s )
Full Consider a PMBLDC motor with symmetric threephase stator windings and trapezoidal air-gap flux
distribution. When it is driven by an inverter, the circuit
equations of the three windings in phase variables can be
expressed as follows [22], and the typical waveforms are
shown in Fig. 1:
V
= R i j + Ls
di
dt
+ e
, j = a,b,c
= k c r ( t ),
j = {a , b , c}
(2)
Te =
(ea ia + eb ib + ec ic )
= 2 k c i ieq
(3)
d r
= Te Tl B r
dt
(4)
2 kc
Js + B
(5)
(1)
Ls = L M
e j (t )
i eq (s )
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Emotional
Cue
Sensory
Orbitofrintal
Cortex
Cortex
Thalamus
Model
output
Amygdala
Sensory
input
Emotional
Cue
SC
and
V i = max 0 , Sc i ( R
V th = th max 0 , S th ( R A th )
A i )
can
(11)
))
(12)
E=
W i =
E =
A j + A th
(7)
[ ]
))
(14)
S = g ( y, yd , e)
(16)
f = K1 e + K
Sc j = S j e k t
dt
e y + K
(18)
yp
(9)
(10)
(8)
= S jW
(Sc (E
(15)
A j = S jV
(13)
R = f ( E , e, y, yd )
A th = V th {max( S j ) = S th }
(6)
Aj
Where
and
k 1 and K 1 , k 2
output
respectively.
and K 2 as well as k 3 and
2922
Also,
3 are
V.
Eventually,
initial
values
for and in
TABLE I
REFERENCE COMMANDS for TEST 1
0
0.2
0.5
[rpm]
300
300
300
Time [sec]
0.2
0.4
0.4
11
11
TL
[Nm]
300
*
r
[rpm]
TABLE II
REFERENCE COMMANDS for TEST 2
0
0.35
0.4
0.6
300
300
150
150
0.7
20
20
Time, [sec]
0.2
0.2
TL
[Nm]
Time, [sec]
0.2
0.3
0.3
20
-20
Ex . sig * . [A]
f Ex = 10 / 3 [ Hz ]
Test1:
Rotor Speed [rpm]
controller.
300
200
100
0
0.1
0.2
0.3
(a1)
2923
0.4
0.5
0.6
Fig.7. Simulation results of PID, the BLDC control speed, Test1: a) Motor
Speed.
Test2:
-2
0.1
0.2
0.3
(a2) Time (s)
0.4
0.5
0.6
20
350
300
-1
150
20
0
10
0.1
0.3
(b)
0.4
0.5
0.6
10
0.4
0.6
Time
(a) (s)
0.8
Change in *
to 20[rpm]
Change in *
to 150[rpm]
10
0
-10 Loading
0
0.2
0.4
0.6
0.8
0.8
(b)
0.1
0.2
0.3
0.4
0.5
-10
0.6
(c)
200
0
-200
0.498
100
0.4
0.6
(s)
(a) Time
Time (s)
0.8
-20
0
0.2
0.4
(c)
0.6
18
8
0
Te
Te*
[Nm]
Loading
-18
0
0.2
0.4
(d)
0.6
0.8
Changing
to 20 [rpm]
18
8
0
-18
0
0.2
0.4
0.6
Time (s)
0.8
doesnt product a smooth speed for the BLDC drive Fig. 9(a).
The controller doesnt give a tuned operate.
200
0.2
300
0
0
20
(e)
Rotor speed[rpm]
Electromagnetic
Torque [Nm]
0.4985
0.499
0.4995
0.5
in sec
(d) Time (s)
Fig.6. Simulation results of BLBIC, the BLDC control speed, Test1: a)
Motor Speed, b) Electromagnetic torque, c) Steady-state stator current phasea, d) Stator voltage-ab.
0.2
20
0
Stator Vltage-Vab {V]
0.2
2924
300
150
20
0
0.2
0.4
(a)
0.6
0.8
14
0
-18
-45
0
Changing *
to 150[rpm]
5.
Changing *
to 20[rpm]
6.
7.
Loading
0.2
0.35
0.6 0.7
Time
(b) Time
(s) (s)
Fig9. Simulation results of PID, the BLDC control speed, Test2: a) Motor
Speed, b) Error of speed.
TABLE III.
8.
9.
10.
Rated Toque
0.2 ohm
Stator Resistance
320V
DC link Voltage
1.8 ohm
Rotor Resistance
11.
Number of Poles
0.175 V.S
0.089 Kg.m2
J. Inertia
8.5 mH
12.
0.005 N.m.s
Friction Factor
0.175 V.S
Flux Inductance
by Magnet
Stator phaseInductances
Flux Inductance
by Magnet
13.
14.
15.
CONCLUSION
This paper presents an improved emotional controller for a
brushless DC motor drive. The implementation of emotional
16.
17.
18.
19.
20.
21.
REFERENCES
1.
2.
3.
4.
22.
23.
24.
2925