Presented By

TANIA MITRA

CONTENTS

INTRODUCTION WORKING OF MOTOR BRUSHLESS MOTOR WORKING OF BLDC TESTING AND TUNING ADVANTAGES OF BLDC MOTOR

INTRODUCTION
What is Motor? It is a machine can converts electrical energy to mechanical energy. It may be DC or AC depending upon the type of power supply. It has mainly two parts- stator & rotor. DC motors are of two typesi) Brushed motor with brushes and commutator and ii) Brushless motor- without brushes.

INTRODUCTION

Commutator is a cylindrical in structure, made of copper or carbon with high conductivity. Mounted on the rotor part of the brushed motor. Helps to conduct current through conductor when the brushes comes to contact during rotation. The electrical contacts to the rotating ring called brushes.

What is commutator and brush ?

Construction of Motor

General physics of motor

Working Principle

Working Principle

BRUSHLESS MOTOR
It has no brushes and commutators. The rotation of the rotor depends on the accurate position with stator. Detected by Hall Sensor, mounted on rotor, shifted at 60 or 120 phase shift. Electronic commutation used to vary the PWM duty-cycle for speed control, using software.

Working of BLDC motor

As there is no commutator ,the current direction of the conductor on the stator controlled electronically. Rotor consists the parmanent magnet where as stator consist a no. of windings. Current through these winding produces magnetic field and force. Hall sensor used to determine the position during commutation.

Commutation of BLDC motor

Brushless DC motor requires external commutation

circuit to rotate the rotor. Rotor position is very important. HALL SENSOR senses the position of the coil accurately

Hall Sensor operation

It embedded into the stator on non-driving end of

motor. Senses accurate position of the rotor to the stator. Shifts at 60 or 120 phase shift for each of three coils, yet a time two coils work for 3 current Due to the changing of direction of the current & applying Flemings Left Hand rule force direction can be determined. Thus the permanent magnet on rotor moves clockwise , as well as the rotor of the BLDC also moves clockwise.

Hall Sensor operation (contd.)

Hall Sensor operation (contd.)

Output of Hall Sensor

PWM requirement
To control the speed PWM is required. To vary the

speed the Hall output signals should be pulse width modulated. When the signals marked by PWM switches ON or OFF according to the sequence, the motor will run at the rated speed. The PWM frequency should be at least 10 times of the max. frequency as thumb rule. By varying duty cycle, the stator voltage can be increased causes increasing of the speed.

Machine rated speed 1000rpm, commutated with 6 pulses Required frequency f= 10006 = 6000 pulse/min. Therefore, speed in pulse/sec= 6000/60= 100 Hz. And the PWM frequency= 10100 Hz =1kHz. Thus the speed depends on the switching frequency i.e. switching period. By varying duty cycle PWM freq. varies and switching speed also varies. It is controlled by electronically through software PEWIN32PRO in GMRT rayshed.

Brushless Servo motor

SERVOSTAR (used in GMRT Rayshed)

Minimum wiring for Driving Test

Testing Procedure

Testing Procedure (contd.)

Testing Procedure (contd.)

Testing Procedure (contd.)

Testing Procedure (contd.)

Testing Procedure (contd.)

Testing Procedure (contd.)

TUNING of BLDC in GMRT RAYSHED

PMAC Programmable Multi Axis Controller.

Commanding upto 8 axes of motion simultaneously. Three axes for Azimuth axis control , another three axes for Elevation axis control & rest 2 for future use. Each axis control part contains one feedback port also. It is set to the SERVOSTAR through PEWIN32PRO software.

Position and Velocity loop control

PMAC can be configured as two loops: 1. position loop 2. velocity loop

PMAC configured as Position Loop

PMAC 1st axis connected to motor1 through servostar #1 as well as 2nd also connected to motor2 through servostar #2. Both the motors coupled through central gear and connected to the encoder. Encoder feedback connected to 5th axis of the PMAC. Commands for position loop #1o0 #2o0 #5o0 (enabling 1st, 2nd and 5th axis) #5j+ (closing the position loop)

PMAC configured as Velocity Loop

For making PMAC configured as velocity loop, position feedback need to be zero. Thus in below diagram 5th axis is zero. Command for velocity loop: #1o0 #2o0 #5o0 #7o0(enabling 1,2 5 & 7 axis) #5j/ (closing feedback)

Note: 7th channel taken for encoder data.

Programmable Multi Axes Controller (PMAC)

PMAC connected with SERVOSTAR & MOTORS

Advantages of Brushless Motor

In BLDC motor PM are on the rotor & electromagnets are on the stator controlled by software. Thus the advantages are: Because of computer control it is more precise & more efficient. There is no sparking & less electrical noise. Voltage and current rating is high. High speed can be achieved. As there is no brushes it requires no servicing. It has longer life. Low Radio Frequency Interference and Electromagnetic Interference.

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3. 4. 5.

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GMRT ANTENNA

GMRT ANTENNA ARRAY

SERVO MOTOR (at elevation) AT GMRT ANTENNA

Brushless DC motors at GMRT Rayshed

Brushless motors at GMRT Rayshed