SPEED CONTROL OF BLDC MOTOR USING DSPIC

4011 CONTROLLER

PART NO: PS-DS-SBDC

USER MANUAL & TECHNICAL REFERENCE

PANTECH PROLABS INDIA PVT LTD

Internet:
No 41, Rajeswari Street, Santhosh Nagar, Support : support@pantechsolutions.net
Kandanchavadi (OMR), Chennai - 600 096, Tamilnadu, India. Sales : sales@pantechsolutions.net
Ph: 044 - 64524445 /46/47 Fax: 044 4260 6350 Hand Phone:
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 DESCRIPTION
In every industry there are processes some form that require
adjustment for normal operation. Such adjustments are usually
accomplished with variable speed drive and it consists of
* Controller
* Power Converter
* Electric Motor
Controller: The controller generates PWM signal to the converter &
hence forms the heart of the Variable speed system.
Power Converter: It controls the power flow from an AC supply to the
motor by appropriate control of power semiconductor switches (part
of power Converter).
Electric Motor: It is connected directly/indirectly to the load.

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 DSPIC30F Family of Microcontrollers
Introduction to dsPIC Microcontrollers
dsPIC architecture
dsPIC Pin details
Peripherals details
How to Program this controller datails

DSPIC architecture

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 DSPIC Pin details

DSPIC Microcontrollers overview

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 Peripheral details
1. I/O Ports
2. Timers
3. Input Capture Module
4. Output Compare Module
5. Quadrature Encoder Interface (QEI)
6. 10-bit A/D Converter
7. 12-bit A/D Converter
8. UART Module
9. SPITM Module
10. I2CTM Module
11. Data Converter Interface (DCI) Module
12. CAN Module

High Performance Modified RISC CPU

Modified Harvard architecture
C compiler optimized instruction set architecture
With flexible addressing modes
84 base instructions
24-bit wide instructions, 16-bit wide data path
48 Kbytes on-chip Flash program space
(16K Instruction words)
2 Kbytes of on-chip data RAM
1 Kbytes of non-volatile data EEPROM

CPU (Cond.,)
1. Up to 30 MIPs operation:
- DC to 40 MHz external clock input
- 4 MHz-10 MHz oscillator input with

2. PLL active (4x, 8x, 16x)

3. 30 interrupt sources
- 3 external interrupt sources
- 8 user selectable priority levels for each
Interrupt source
- 4 processor trap sources
4. 16 x 16-bit working register array

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 DSP Engine Features
Dual data fetch
Accumulator writes back for DSP operations
Modulo and Bit-Reversed Addressing modes
Two, 40-bit wide accumulators with optional saturation logic
17-bit x 17-bit single cycle hardware fractional/ integer multiplier
All DSP instructions single cycle
16-bit single cycle shift

Motor Control PWM Module Features

6 PWM output channels
- Complementary or Independent Output
Mode - Edge and Center Aligned modes
3 duty cycle generators
Dedicated time base

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 BLDC MOTOR

Brushless Permanent Magnet Motors, Permanent Magnet AC

motors, Permanent Magnet Synchronous Motors etc. The confusion
arises because a brushless dc motor does not directly operate of a dc
voltage source. However, as we shall see, the basic principle of
operation is similar to a dc motor.
A Brushless DC motor has a rotor with permanent magnets and
a stator with windings. It is essentially a dc motor turned inside out.
The brushes and commutator have been eliminated and the windings
are connected to the control electronics. The control electronics
replace the function of the commutator and energize the proper
winding. The energized stator winding leads the rotor magnet, and
switches just as the rotor aligns with the stator. There are no sparks,
which is one advantage of the BLDC motor. The brushes of a dc
motor have several limitations; brush life, brush residue, maximum
speed, and electrical noise.
BLDC Motors are potentially cleaner, faster, more efficient, less
noisy and more reliable. However, BLDC motors require electronic
control.

BLDC OPERATION
A permanent Magnet AC motor, which has a trapezoidal back
emf, is referred to as brushless DC motor (BLDC). The BLDC drive
system is based on the feedback of rotor system at fixed points for
commutation of the phase currents.
The BLDC motor requires quasi-rectangle shaped currents fed
into the machine. Alternatively, the voltage may be applied to the
motor every 120, with current limit to hold the current within motor
capabilities. Because the phase currents are excited in synchronism
with the constant part of the back emf, constant torque is generated.
The electromagnetic torque of the BLDC motor is related to the
product of phase, back emf and current. The back emf in each phase
are trapezoidal in shape and are displaced by 120 electrical degree
with respect to each other in 3 phase machine. A rectangle current
pulse is injected into each phase so that current coincides with the ack
emf waveform; hence the motor develops an almost constant toque.

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 BLDC HALL SENSOR
Hall Effect sensor provides the portion of information needed to
synchronize the motor excitation with rotor position in order to
produce constant torque. It detects the change in magnetic field. The
rotor magnets are used as triggers to the Hall Sensor. A signal
conditioning circuit integrated within the Hall switch provides a TTL-
compatible pulse with sharp edges. Three Hall Sensors placed 120
apart, are mounted on the stator frame. The Hall Sensor digital signals
are used to sense the rotor position.

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 MOTOR SPECIFICATIONS
Power 1HP
Voltage 24 v
Speed 2400 RPM
Current 31.65 amps

FEATURES
1. Trapezoidal three phase back emf waveform
2. Hall effect sensors, Encoder and index feedback.
3. Temperature sensor mounted in motor winding
4. Additional Encoder interfacing facility
5. Motor and feedback connector, counterpart plugs optional.
6. Malt Block paint finish

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 EXPERIMENTAL SECTION

AIM

To study the open loop and closed loop speed control of BLDC Motor
by using DSPIC 4011 microcontroller and IPM module.

EQUIPMENTS REQUIRED
1. IPM Power Module
2. DSPIC 4011 microcontroller
3. BLDC Motor
4. Cables
i. 24 pin DB to 20 pin header.
ii. Feedback connector cable (9 pin D cable).

CONNECTION PROCEDURE
1. Connect the 24 pin cable from the DSPIC 4011 microcontroller to
power module (IPM) along with the Hall signal conditional cable.
2. Connect the feedback cable between motor and Hall signal
conditioning card.
3. Connect the motor terminals R, Y, B to the in IPM Power
Module

EXPERIMENTAL PROCEDURE
1. Verify the connections as per the connection procedure and Wiring
Diagram.
2. Switch ON the DSPIC 4011 microcontroller trainer kit.
3. Power ON the IPM Power Module
4. Check whether shut down LED "SD" glows or not. If 'SD' LED
glows, press the Reset switch, the LED gets OFF.

OPEN LOOP CONTROL

1. Verify the PWM waveform and Hall sensor output which are
terminated in the power module.
2. After ensuring all the connection, apply the input voltage to the
IPM power module DC rail voltage 30V. which is shown in the power
module voltmeter.

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 3. Select mode forward or reverse .Select the open loop mode
4. Now the motor starts to rotate in the set speed.
5. By using the switches increment (S1) and decrement (S2) set the
speed of the motor.
5. The actual speed of the motor will be displayed in the LCD.
6. To measure the load current of the motor, externally connect one
DC ammeter in series with any one DC input side.

CLOSED LOOP CONTROL

1. Verify the PWM waveform and Hall sensor output which are
terminated in the power module.
2. After ensuring all the connection, apply the input voltage to the
IPM power module DC rail voltage (30V), which is shown in the
power module voltmeter.
3. Select mode forward or reverse .Select the closed loop mode
3. Now the motor starts to rotate in the set speed.
4. By using the switches increment (S2) and decrement (S3) set the
speed of the motor.
5. The actual speed of the motor will be displayed in the LCD.
6. Now apply the load to the motor at rated current rating and analyze
the performance of the closed loop control.
7 The actual speed of the motor remains same as set speed after
applying the load in close loop condition
8. To measure the load current of the motor, externally connect one
DC ammeter in series with any one DC input side.

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