elg4139 julio pimentel kylowave inc.rhabash/elg4139invited.pdfpwm – pulse width modulation the...
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ELG4139ELG4139
Julio Pimentel
Kylowave Inc.
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Class 1
What you will learn� Introduction on PWM modulators
� Introduction on three-phase inverters
� Fundamentals of Brushless DC motors
Operation of BLDC motors using six-steps control � Operation of BLDC motors using six-steps control algorithm
� Speed and torque control of BLDC motors
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A BLDCM Control System
Note: drawing from Microchip AN885
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Some general classes of power
electronics circuits� Families of solid state power converters categorized
according to their conversion function
AC
Vac1 f1
ACRVac1, f1
AC
Vac2, f2
DC
Vdc1
DC
Vdc2
DC-DC
Converters
AC-DC
Rectifiers
DC-AC
Inverte
rs
DC
Link
AC-AC Converters
Cicloconverters
One of our subjects for today’s class
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PWM – Pulse Width Modulation� The idea is to modulate the width of a stream of pulses, keeping the
carrier frequency constant, such that the low pass frequency spectrum produces the required waveform
LP Filtered signal
HF Stream of
Pulses
PWM in Wikipedia
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Introduction to 3-phase inverters� 6 Transistors Power Converter
Note: drawing from Freescale AN1916
Half Bridge section
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Fundamentals of Brushless DC
motors� BLDC Motor Cross Section
Note: drawing from Freescale AN1916
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Fundamentals of Brushless DC
motors� Types of Back Electro Magnetic Force (BEMF)
� Depends on BLDCM physical construction
Trapezoidal
Sinusoidal
Note: drawing from Microchip AN885
Trapezoidal
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Fundamentals of Brushless DC
motors� Internal View of the Stator and Rotor of a BLDC Motor
StatorRotor
Note: drawing from Microchip AN885
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Fundamentals of Brushless DC
motors� Three-Phase Hall Sensors
120 degrees
Note: drawing from Microchip AN885
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Fundamentals of Brushless DC
motors� Winding Energizing Sequence
� Dependent on hall sensor encoding
6 possible vectors for the 60 degree
sectors
vectors for the magnetic field
Note that all ZEROS is open circuit and all ONES is short circuit. Why?
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BLDCM Theory of Operation� six-steps control algorithm
� Control logic is not complicate to implement
� Capable of very high speed operationoperation
� Relatively high torque ripple compared to other methods (Sinusoidal BEMF, Sinusoidal PWM, FOC, SVM, etc.)
� High current ripple implies high harmonic content and higher operating temperature (for the same operating conditions)
Note: drawing from Microchip AN885
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Speed control of BLDC motors
PI or PID PI or PID Filter
SpeedEstimator
Note: drawing from Freescale AN1916
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Torque control of BLDC motors
PI or PID PI or PID
Note: drawing from Freescale AN1916
PI or PID Filter
PI or PID Filter
SpeedEstimator
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Putting it all together� Control Block Diagram
Note: drawing from Microchip AN885
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Putting it all together
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For further study� Two others interesting examples on power electronics
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Example #2
Spontaneous switching - RectifiersSingle phase Three phaseD1
D1N4002
V2
FREQ = 60
VAMPL = 10
VOFF = 0 R1
1K
L1
10uH
C1
5u
V VI
D1
D1N4002
R1
1K
V2
FREQ = 60
VAMPL = 10
VOFF = 0
PHASE = 120
D2
D1N4002
L1
10uH
C1
5u
D3
D1N4002
D4
D1N4002
D5
D1N4002
D6
D1N4002
V3
FREQ = 60
VAMPL = 10
VOFF = 0
PHASE = 240
V1
FREQ = 60
VAMPL = 10
VOFF = 0
PHASE = 0
I V
V
Smoothinginductance
V2 1K PHASE = 120 PHASE = 240PHASE = 0
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Example #3
Forced switching� phase controlled rectifier DC-DC Converter
R3
20
V1 = 0V2 = 2
L1
5mh
V3
D1
D1N4002
C1
10n
Q1Q2N2222
R4
10
I
VV1
FREQ = 60
VAMPL = 50
VOFF = 0
PHASE = 0
R3
100
X1
2N1595
PER = 16.6667ms
V1 = 0V2 = 5
L1
5mh
R4
1k
V
V
V2
TD = 0
TF = 10ns
PW = 30u
PER = 100u
TR = 10ns
V2 = 2
20V
V2
TD = 3ms
TF = 10ns
PW = 0.2ms
TR = 10ns
V2 = 5V
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Conclusion
Resources available� Orcad version 16.3 Student Edition – Free
� http://www.cadence.com/products/orcad/pages/downloads.aspx
� NOTE: The student edition has limitations in terms of # � NOTE: The student edition has limitations in terms of # of components, # of pins, etc.
� We will publish a copy of the example circuits
� The internet has many useful links� Search for “ pspice and power and electronics”
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References on Power Electronics� This is one of the best references
� Erickson, R. W. & Maksimovic, D., “Fundamentals of Power Electronics,” 2nd Edition, University of Colorado, Boulder, http://ecee.colorado.edu/copec/book/slides/slidedir.html
� These are good references as well� These are good references as well� Ramshaw, E. & Shuumman, D. C., “PSpice Simulation of
Power Electronics Circuits: An Introductory Guide,” Springer Verlag, 1996
� Ferrieux, J. P. & Forest, F., “Alimentation à découpage -Convertisseurs à résonance: principes, modélisation, composants,” Collection technologies, Masson, Paris, 1987, ISBN 2-225-81205-5
� Tolyat, H. A. & Campbell, S., “DSP-Based Electromechanical Motion Control,”CRC Press, 2003
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References on Control of BLDCM� 1) Leonard N. Elevich, “3-Phase BLDC Motor Control
with Hall Sensors Using 56800/E Digital Signal Controllers,” Freescale Semiconductor, AN1916, Rev. 2.0, 11/200511/2005
� 2) Padmaraja Yedamale, “Brushless DC (BLDC) Motor Fundamentals,” Microchip Technology Inc., AN885, 2003