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Abstract: The main purpose of this study is to propose a novel back-EMF observer. It can drive a permanent
magnet Brushless DC Motor (BLDCM) smoothly from slow to high speed without position or speed sensors. In the
method, a phase back-EMF observer, which could estimate phase back-EMFs in real time and only relies on DC
voltage and phase currents of motor without an additional circuit or complicated operation process,had been
established with phase back-EMF as a disturbance signal. This observer simplifies the structure of traditional back-
EMF observers and only has one inertia element, hence the response time and robustness of the system could be
improved. This study also detailedly provides a method for speed and position detection, which has high
performance in low speed range. The validity of the proposed method is verified through simulation and
experimental results.
Keywords: BLDCM, phase back-EMF observer, position-sensorless control, whole speed range
Correspondong Author: Pan Lei, Department of Electronic and Information Engineering, Tianjin Institute of Urban
Construction, Tianjin, China. Tel.: 13512241509
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Res. J. Appl. Sci. Eng. Technol., 6(13): 2474-2482, 2013
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Res. J. Appl. Sci. Eng. Technol., 6(13): 2474-2482, 2013
ib U eb
ea ec
ubc ^
E
uab 1 ib esum θ
3Ls + 2 R erroib π /2 π 3π / 2 2π
^
2 3Lk4 −E
Mode1 Mode2 Mode3 Mode4 Mode5 Mode0
eb
1/ s k6
Back-EMF observer
k5 Fig. 2: Waveform of ea, eb, ec and esum
^
Fig. 1: The back-EMF observer of B phase h7 (t=
) (uca (t ) − uab (t )) /[3L(ic (t ) − ic (t − 1))] (11)
•
∧ ^ The following formula could be obtained:
eb = k5 erroib +k6 i b (7)
g
∧ ∧
where, k 5 and k 6 are gain coefficient and an accurate eb =
x(t ) A x(t ) + B ' (t )u ' (t ) (12)
could be obtained through properly selecting k 5 and k 6 .
The back-EMF observer of phase B could be The output formula is:
acquired as shown in Fig. 1.
Similarly, the observer models of the other two ∧
phases could be obtained and the system observer model y(t ) = C x(t ) (13)
could be obtained eventually:
where,
g
∧ ∧
x = A x + Bu + K × Erroi (8) h1 (t ) − k1 0 0 1
T
k 0 0 0
2
where, 0 h4 (t ) − k4 0 ; 1 ;
B ' (t ) = C=
0 k5 0 0
∧ 3R 2
− 3L − 0 0 0 0 0 0 h7 (t ) − k7 1
ia 3L
∧ 0 0 k8 0
ea k3 0 0 0 0 0
∧ ^
ia (t ) − ia (t − 1)
3R 2
∧ ib ; 0 0 − − 0 0
x= ∧ A= 3L 3L ^
eb 0 0 k6 0 0 0 u ' (t )= ib (t ) − ib (t − 1) ; k2 , k5 , k8 ≠ 0 ; k3 , k6 , k9 < 0
∧
i 0 3R
−
2 ^
0 0 0 − ic (t ) − ic (t − 1)
3L
c
∧
e
3L
c 0 0 0 0 k9 0
1/ 3L 0 0 k1 0 0 From (12) and (13), (14) and (15) can be concluded.
0 k 0 0
0 0 2
0 0 Rank ([ B ' AB ' A2 B ' A3 B ' A4 B ' A5 B ' ]) = 6 (14)
0 1/ 3L 0 ; k4
B= K =0 k5 0
0 0 0
0 0 k7 Rank ([C CA CA2 CA3 CA4 CA5 ]T ) = 6 (15)
0 1/ 3L 0
0 0 0 0 0 k8
Hence, the system is completely controllable,
∧
uab − ubc i −i completely observable and stability and the observer is
erroia a a
=
u u − u ; erro = i − i∧ fully feasible.
bc =
ab Erroi ib b b
uca − uab erroic ∧
HIGH-SPEED COMMUTATION METHOD
ic − ic
The back-EMF functions of BLDCM could be
Adjusting the structure of (9) and letting: obtained according to its back-EMF’s waveform shown
in Fig. 2 and they are given in Table 1. e sum could be
^ obtained from Table 1 and e sum = e a +e b +e c .
h1 (t=
) (uab (t ) − ubc (t )) /[3L(ia (t ) − ia (t − 1))] (9) The waveform of e sum is shown in Fig. 2, which
shows that the period of e sum is one third of that of phase
^ back-EMF. There are six zero-crossing points in each
h4 (t=
) (ubc (t ) − uca (t )) /[3L(ib (t ) − ib (t − 1))] (10) three periods and they are in accordance with six zero-
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Res. J. Appl. Sci. Eng. Technol., 6(13): 2474-2482, 2013
^ ^
Table 1: The back-EMF function of BLDCm
U CF1 eb − e c
θr ea eb ec ^
ea ^
^
ec
0-30º (6E/𝜋𝜋)θ r -E E eb θ
30º-90º E -E -(6E/𝜋𝜋)θ r +2E π 2π
90º-150º E -(6E/𝜋𝜋)θ r +4E -E
Mode2 Mode5
150º-210º (6E/𝜋𝜋)θ r +6E E -E
210º-270º -E E -(6E/𝜋𝜋)θ r +8E (a)
^ ^
270º-330º -E -(6E/𝜋𝜋)θ r +10E E CF2 ec − e a
U ^ ^
330º-360º (6E/𝜋𝜋)θ r +12E -E E ea eb ^
ec θ
π 2π
Interrupt service routine
Mode1 Mode4
(b)
esum=0 and Flag_zc=0 N desum/dt=0 and Flag_zc=1 ^ ^
U ^ e a − eb CF3 ^ ^
Y Y ea eb ec
Flag_zc=1 Mode=(Mode+1)%6 and θ
π 2π
Flag_zc=0
Mode3 Mode0
(c )
exit vth1
U
vth 2
Fig. 3: Interrupt service routine of commutation point b CF1 d
a
detection at high speed θ
π 2π
vth 3 c
crossing points of three-phase back-EMF in one period.
Mode2 Mode5
In particular, the extreme point of e sum is the
commutation point of BLDCM. (d )
At high speed, the commutation point could be
determined through detection of the zero-crossing point Fig. 4: Working principle of the commutation functions
and extreme point of e sum . Figure 3 shows the interrupt
service routine of commutation point detection and this moment corresponds to the commutation moment of
Mode = 1, 2, 3, 4, 5, 0 are corresponding to respective Mode2. CF 1 decreases quickly with increasing of θ, but
communication mode. But at low speed, the amplitude CF 1 is positive during this section. ê a becomes negative
of e sum is small and it is easy to cause unexpected after θ entering π~3π/2, but ê b -ê c remains positive and
commutation. CF 1 becomes negative with small absolute value. CF 1
approaches negative infinity immediately when θ
LOW-SPEED COMMUTATION METHOD approaches 3π/2. After θ entering 3π/2~ 2π section,
CF 1 becomes positive infinity quickly, for ê b -ê c turns
In order to solve the low-speed commutation from positive to negative and the moment corresponds
problem of BLDCM, a novel commutation function for to the commutation moment of Mode 5. With
determining commutation points is provided in this continuous increasing of θ, CF 1 decreases quickly and it
study. The function can realize low-speed control of remains positive with small absolute value in this
BLDCM perfectly. section. Similarly, the commutation points of Mode 1
The commutation functions are: and Mode 4 could be obtained from CF 2 (Fig. 4b) and
the commutation points of Mode 3 and Mode 0 could be
^ ^ ^ obtained from CF 3 (Fig. 4c). Because the range of data
(θ )1 e a /(eb − ec )
CF= (16) processed by microprocessor is limited, commutation
points could be detected through setting proper
^ ^ ^
(θ ) 2 eb /(ec − e a )
CF= (17) threshold values.
Figure 4d shows CF 1 under disturbance signal.
^ ^ ^
Because the amplitude of noise a is smaller than v th2 , it
(θ )3 ec /(e a − eb )
CF= (18) could be filtered. The amplitude of the noise b exceeds
v th2 , but it does not turns from negative to positive
The working principle of the commutation function immediately, so it could also be filtered. The negative
is shown in Fig. 4. In Fig. 4a, CF 1 is negative when θ is maximum value of noise c exceeds v th3 , but the positive
in 0~π/2 and CF 1 decreases gradually. CF 1 decreases maximum value of it does not exceeds v th2 , so it could
rapidly towards negative infinity when ê b -ê c approaches also be filtered. The negative maximum value of the
zero. Just after θ entering π/2~π, CF 1 turns from noise d exceeds v th3 and the positive maximum value
negative infinity to positive infinity immediately and exceeds v th2 , so the noise d is regarded as a commutation
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Res. J. Appl. Sci. Eng. Technol., 6(13): 2474-2482, 2013
Table 2: The expression of e sum in a whole period Table 3: Parameter table of BLDC motor
θr e sum θr e sum Rated voltage V 310V Stator inductance L 5.22 mH
0-30º (6E/𝜋𝜋)θr 90º-120 (6E/𝜋𝜋)θ r -4E Rated torque Te 12Nm Rotor inertia J 0.08 kg·m2
Rated speed n 1000 Number of pole pairs Pn 2
30º-90º -(6E/𝜋𝜋)θ r +2E Stator resistance Rs 1.5Ω
^
U e sum ∆t SaH SbH ScH
tk −2 ∆θ tk
t /θ BLDC
π 2π DC
motor
t
3 k −1 3 SaL SbL ScL
calculate ec
with other filter methods. 60 CF1,2,3
2π Torque
calculate
ROTOR SPEED AND TORQUE CONTROL AND Ω
∧
POSITION TRACKING Ω ∧
2/Pn ωr Speed
calculate
50 2
e^ a e^ sum
0 e^ a
0
-2
-50 e^ sum
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9
voltage(V)
2
e^ b e^
voltage(V)
50 0 b
0 -2
voltage(0.2V)
a
0 20
CF1
CF 0
3
-50
-20 e^
0 0.1 0.2 0.3 b
50 0 0.1 0.2 0.3 0.4 0.5 0.6
voltage(V)
e^ b
0 20
0
-50
-20 e^ c
0 0.1 0.2 0.3
0 0.1 0.2 0.3 0.4 0.5 0.6
50
time(s)
0
e^
c
-50 (b) Waveforms of ê a , ê b , ê c , CF 1 , CF 2 and CF 3 at low speed
0 0.1 0.2 0.3
time(s)
(d) The given torque curve and the estimated torque curve
50
e^
0 sum
e^
-50 a
50 ^
e
b
0
-50
50
e^
c
0
-50
20
-20
1.2 1.4 1.6 1.8
time(s)
(b) n erro (Y-axis:5 rpm/div, X-axis:100ms/div)
(b): Waveforms of ê a , ê b , ê c , CF 1 , CF 2 and CF 3 at low speed
carries out the estimation through regarding phase back- Kim, J.S. and S.K. Sul, 1995. High performance PMSM
EMF as disturbance signal. Simulation and experimental drives without rotational position sensors using
results show that this algorithm could effectively reduced order observer. Proceeding of Conference
estimate the phase back-EMF and carry out on IEEE IAS Annu. Meeting, Orlando, FL, pp:
commutation precisely. Advantages of this algorithm 75-82.
are: additional detection circuits could be avoided;
Shao, J., 2006. An improved microcontroller based
precise commutation could be carried out both in steady
state and transient state; the motor speed could be sensorless brushless DC (BLDC) motor drive r for
precisely controlled in full range; the position tracking automotive applications. IEEE T. Indus. Appl.,
and torque control of the BLDCM could be achieved, 52(5): 1216-1221.
especially in large rated torque motor. Tae-Sung, K., 2008. A new approach to sensorless
control method for brushless DC motors. Int. J.
ACKNOWLEDGMENT Contr. Autom. Syst., 6(5): 577-587.
Ungurean, A., V. Coroban-Schramel and I. Boldea,
This study was supported by Science and 2010. Sensorless control of a BLDC PM motor
technology pillar Key Program of Tianjin based on I-f starting and Back-EMF zero-crossing
(11ZCZDSF04800) and Universities Science and
detection. OPTIM 2010, Basov, pp: 377-382.
Technology Fund Planning Project of Tianjin
(20100713). Wang, H. and H. Liu, 2008. Novel driving method for
BLDCM from standstill to high speeds. Wseas T.
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