3 111-04 PDF
3 111-04 PDF
3 111-04 PDF
3, 2011, 141146
This paper describes a new PWM switching strategy to minimize the torque ripples in BLDC motor which is based on
sensored rotor position control. The scheme has been implemented using a PIC microcontroller to generate a modified Pulse
Width Modulation (PWM) signals for driving power inverter bridge. The modified PWM signals are successfully applied to
the next up-coming phase current such that its current rise is slightly delayed during the commutation instant. Experimental
results show that the current waveforms of the modified PWM are smoother than that in conventional PWM technique.
Hence, the output torque exhibits lower ripple contents.
K e y w o r d s: permanent magnet, brushless DC, modified PWM, sensored control, torque ripple
School of Electrical and Electronic Engineering, Universiti Sains Malaysia, Engineering Campus, 14300 Nibong Tebal, Penang,
Malaysia, wael [email protected], [email protected], [email protected]
where
va ia RS LS ea
Rs : phase resistance, van , vbn , vcn : phase voltages,
ib
Ls : self-inductance, ia , ib , ic : phase currents,
vb RS LS eb
0 n M : mutual inductance, ea , eb , ec : phase back-EMFs.
vc ic RS LS ec
The equivalent circuit for the BLDC motor is shown
in Fig. 1.
Fig. 1. Brushless DC motor equivalent circuit Due to the interaction of the currents in stator wind-
ings and the magnetic field from rotor magnets, the elec-
DC Power Power Hall
tromagnetic torque of BLDC motor is produced as follows
Electric Motor
Supply Converter Sensor
ea ia + eb ib + ec ic
Te = (2)
m
Position / Speed Feedback
Controller
where m is the mechanical speed of the rotor. The equa-
tion of motion is given by
Fig. 2. BLDC drive system components
dm Te TL Bm
= (3)
mode on the current generated by back-EMF of switch- dt J
off phase in BLDC motor. A low cost digital control tech-
nique is proposed in [10] with a constant frequency digital where
PWM controller, simulated and experimentally verified TL : load torque,
for a BLDC motor drive system. B : damping constant,
In [11], commutation torque ripple reduction in BLDC J : moment of inertia of rotor shaft and load [14].
motor using PWM ON PWM mode. Reference [12]
presents a new method on reducing commutation torque BLDC drive system typically consists of BLDC mo-
ripples generated in brushless DC motor drives based on tor, power electronics converter, hall-effect sensors and
Commutation Time Control. controller as shown in Fig. 2.
As mentioned above, these were several research works For six-step motor control, at each step the instanta-
in the past decade which focused on minimizing torque neous output power will be will be deliver from two phases
ripples during commutation time. However, in this paper, connected in series, and is given by
a modified PWM signal is applied during the start-up of
the commutation sequence for the incoming phase current Po = m Te = 2EI (4)
such that it will gradually build up and reach the targeted
value in order to minimize the torque ripples in BLDC
where I is the current amplitude and E is the induced
motor drives. The proposed method does not require any
additional hardware modification. back-EMF. From equations (2) and (4), the output torque
can also be expressed as
Ic
ic 4 PROPOSED METHOD FOR
TORQUE RIPPLE MINIMIZATION
t
dia Vdc + 2E
= , (8)
dt 3Ls
dib 2(Vdc E)
= , (9)
dt 3Ls
dic Vdc 4E
= , (10)
dt 3Ls
T Ls I
tcond = . (16)
3 2E
5 RESULTS
Fig. 10. Modified PWM control motor current and line voltage
Figure 8 shows the experimental test bench, where the
tested motor has been coupled with the torque Lorenz
sensor, and the other end of the sensor is coupled to a
happen when dc link voltage (Vdc ) equal to 4 times of the
PM generator.
induced back-EMF (E ).
Figure 9 shows the output current and the line voltage
3Ls I 3Ls I Ls I using the normal PWM control. While the waveforms
tr V = = = , (13)
dc =4E 2(Vdc E) 2(4E E) 2E shown in Fig. 10 show the output current and line voltage
Ls I of the BLDC motor under the modified PWM control
tf V = . (14) technique.
dc =4E 2E
146 W. A. Salah D. Ishak K. J. Hammadi: PWM SWITCHING STRATEGY FOR TORQUE RIPPLE MINIMIZATION . . .
The waveform shown in Fig. 9, illustrates the phase [5] BASU, K. et al : Minimization of Torque Ripple in PWM AC
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PWM switching shown in Fig. 10, it clearly shows that
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Jump of Brushless DC Motors, in Intelligent Control and Au-
torque using both types of control. It is obvious that by
tomation, 2008. WCICA 2008. 7th World Congress on, 2008,
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Fig. 11. Motor output torque at 41 Hz [12] OH, T.-S.et al : Commutation Time Control for Torque Ripple
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6 CONCLUSION Analysis of Permanent-Magnet Motor Drives. II. The Brushless
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Acknowledgment 2001, pp. 10441048, vol. 2.
The authors wish to thank Ministry of Science, Tech- Received 23 November 2010
nology and Innovation Malaysia (MOSTI) under grant
No. 305/PELECT/6013330 and Universiti Sains Malay- Wael A. Salah received the BEng degree from Palestine
sia for providing research fellowship and funding for this Polytechnic University in 2001. Awarded with MSc degree
research. from University Science Malaysia in 2007. He is currently a
research fellow and PhD candidate at the School of Electri-
cal and Electronic Engineering, Universiti Sians Malaysia. His
References interests are in the areas of Electronic Control of Electrical
Drives, Energy conversion and Power Control, Power Elec-
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senior lecturer at School of Electrical and Electronic Engineer-
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Drives, Industrial Electronics, IEEE Transactions on 43 (1996), siti Sains Malaysia. His interests are in the areas of Machine
309320. Design and Modelling, Electrical Machines, Electrical Drives.