Академический Документы
Профессиональный Документы
Культура Документы
MECHANICAL COMMUTATOR
In a DC motor ,field stationary, armature having no. of coils distributed over its surface rotate in the magnetic field. Armature coils interconnected to form a closed winding. Armature receives current through a mechanical commutator and brushes ,torque produced due to the interaction of the fields produced by armature and magnets.
MECHANICAL COMMUTATOR
When a commutator segment comes in contact with the brush, current flows through the section of the winding connected to the DC supply through commutator and brushes. Commutator serves the purpose of switching current from one section of the armature winding to the other at correct instant.
ELECTRONIC COMMUTATOR
A synchronous motor considered to operate as a DC motor. In SM, field rotating, armature stationary supplied by an inverter controlled by shaft position sensing signals. Static inverter-electronic commutator. This facilitates operation of a synchronous motor as a versatile variable speed DC motor having no mechanical commutator and brushes. Maintenance free motor-BLDC motor.
ELECTRONIC COMMUTATOR
3 phase Inverter
DC supply
SM Gating pulses
Torque command
Feedback signals
ADVANTAGES
Low inertia and friction Can have faster acceleration and run at much high speeds. Since armature stationary, cooling better.
HALL SENSORS
HALL SENSORS
Transducer that varies its output in response to the changes in magnetic field. Used for positioning ,speed detection and current sensing application.
ADVANTAGE
Independent of ambient condtions (ie.,dust, humidity).
DISADVANTAGES
Distance of sensor from rotor should be less than 1 cm. Presence of offset voltage, ie.,voltage even in the absence of magnetic field. Expensive.
OPTICAL SENSORS
OPTICAL SENSORS
A simple 3 phase unipolar operated motor using optical sensors(photo transistors). Three photo transistors PT1 ,PT2 and PT3 placed 120 electrical apart. Exposed to light in sequence through a revolving shutter coupled to the motor shaft. PT1 detects light and turns TR1 ON. South pole created by salient pole P1 by the current flowing through the winding ,attracting the north pole of the rotor to move in the direction of arrow.
SWITCHING SEQUENCE
BLDC MOTOR
Rotor
permanent magnet rotor
Fig (a)
Fig (b)
ADVANTAGES
No brush maintenance required. No sparking. Absence of commutator and brush gears reduce motor length Better efficiency Better power factor Greater output power
DISADVANTAGES
The need of shaft position sensing Increased complexity in electronic controller Increased cost
PRINCIPLE OF OPERATION
PMBLDCM DRIVE
SEQUENCE TABLE
HA HB HC FORWARD REVERSE
0 1 1 0
0 0 1 1
0 0 0 0
5, 4 1, 4 1, 6 3,6
0
0
1
0
1
1
3,2
5,2
1,4
1,6
CONTROLLER CIRCUIT
Rotor position sensed by a position sensor. Decoded by combinational logic to provide firing angles for 120 conduction in each of the three phases. Commutation logic or rotor position decoder has six outputs which control upper and lower phase leg transistors.
CONTROLLER CIRCUIT
CONTROLLER CIRCUIT
Basic forward control loop is a voltage control. Fixed reference frequency. Duty cycle controlled by analogue voltage reference. Current feedback and speed feedback provided in the same way as that of DC motor.
Power content in the pulse needed to be enhanced Isolation of controller circuit from the power circuit- optoisolator . Power circuit
Three phase bridge inverter. Feedback diodes across each switch.
SENSORLESS CONTROL
SWITCHING SEQUENCE
Step 1 2 3 4 5 6 Phase A IN ZERO OUT OUT ZERO IN Phase B OUT OUT ZERO IN IN ZERO Phase C ZERO IN IN ZERO OUT OUT
PWM ON
Latch in the OFF condition.
PWM OFF
Voltage at the comparator input is back EMF. When the back EMF crosses zero , comparator output zero. Comparator output stored in latch. Direction of crossing obtained form latch.
BLOCK DIAGRAM
Using PWM average voltage across the windings controlled, thus controlling the speed. PWM outputs control the switches Q0 to Q5 . A matching driver circuit used. Sequence table entered in the program memory based on the hall sensor placement Main features
PCPWM Input capture module ADCs
PCPWM MODULE
Three duty cycle registers
PDC0H:PDC0L PDC1H:PDC1L PDC2H:PDC2L
SOFTWARE FUNCTIONS
Main loop- initialization routine ,fault display , key detection and decoding. Initialization routine- initializes all the peripherals. PWM outputs driven to inactive state until all the fault exists. Key activity monitoring- keys are monitored and each press of either button toggles the state corresponding to the keys. Fault signals-Overvoltage, overcurrent and overtemperature monitored.
SOFTWARE FUNCTIONS
ISR loop- Hall sensor transition and AD channel conversion monitored. Hall sensor-Any transition on hall sensor inputs read the corresponding value from the sequence table corresponding to the direction. A/D channel conversion- AD channels converted in every cycle.
FLOWCHART
ISR
no ADC ready
yes
Calculate and load duty cycle registers
TORQUE/SPEED CHARACTERISTICS
TORQUE/SPEED CHARACTERISTICS
Peak torque(TP ) or stall torque
Maximum torque that motor can deliver for a short duration of time. Not available for all speed ranges
TORQUE/SPEED CHARACTERISTICS
Intermittent torque zone
Applications that have frequent starts and stops and frequent reversals of rotation with load on the motor, demand more torque than the rated torque. eg., when the motor starts from standstill and during acceleration. extra torque required to overcome the inertia of the load and rotor itself. Motor can deliver higher torque, maximum up to peak torque.
TORQUE/SPEED CHARACTERISTICS