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Md. Rifat Hazari, Effat Jahan Md. Ettaker Siraj, Md. Tauhedull Islam Khan, Ahmed
Department of Electrical and Electronic Engineering Mortuza Saleque
American International University-Bangladesh (AIUB) Department of Electrical and Electronic Engineering
Dhaka, Bangladesh American International University-Bangladesh (AIUB)
E-mail: rifat.hazari@gmail.com, effat.jahan25@gmail.com Dhaka, Bangladesh
E-mail: shishir.srabon@gmail.com,
shaikat.khan007@gmail.com, ahmed.saikat@gmail.com
Abstract— Growing need for high productivity is placing brush dc motor, but using a solid state-static circuit rather
new demands on mechanisms connected with electrical motors. than a commutator/brush system.
The demand for low cost Brushless DC (BLDC) motor has
increased in industrial applications. A simple BLDC motor
control algorithm for low cost motor drive applications using
II. CONVENTIONAL BLDC MOTOR STRUCTURES
general purpose microcontrollers has been created and The construction of modern brushless dc motor is very
presented in this paper. Proposed design will allow the user to similar to the ac motor, known as permanent magnet
rotate the motor either clockwise or counter clockwise synchronous motor. Figure 1 illustrates the structure of a
direction. Depending on the rotor position the sensor will give typical three phase brushless dc motor. The stator windings
response to the controller circuit. Then the controller circuit are similar to those in a poly phase ac motor, and the rotor is
will fix the direction of current following to the stator. The composed of one or more permanent magnets. Brushless dc
design controller circuit is also implemented. The overall motors are different from ac synchronous motors in that the
design consists of microcontroller circuit, logic gates, switching former incorporates some means to detect the rotor position
devices (MOSFET/BJT), BLDC motor, sensors. or (magnetic poles) to produce signals to control the
electronic switches as shown in figure 2. The most common
Keywords— BLDC motor; Microcontroller; Sensor; BJT;
MOSFET. position/pole sensor is the hall element, but some motors use
optical sensors [2].
I. INTRODUCTION
The use of the permanent magnets in electrical machines
in place of electromagnetic excitation results in many
advantages such as no excitation losses, simplified
construction, improved efficiency, fast dynamic performance
and high torque or power per unit volume. The PM
excitation in the early 19th century was not adopted due to
the poor quality of PM materials. In 1932, the invention of
Alnico revived the use of PM excitation systems, however it
has been limited to small and fractional horse power dc
commutator machines [1].
Fig. 1. Disassembled view of a brushless dc motor [2]
A brushless dc (BLDC) motor is a synchronous electric
motor which is powered by direct-current electricity (DC)
and which has as electronically controlled commutation
system, instead of a mechanical commutation system based
on brushes. In such motors, current and torque, voltage and
rpm are linearly related.
In BLDC motor the electromagnets do not move, instead
the permanent magnets rotate and the armature remains
static. This gets around the problem how to transfer current
to a moving armature. In order to do this, the brush systems
assembly is replaced by an electronic controller. The
controller performs the same power distribution found in a
Fig. 2. Brushless DC motor block diagram
Now from the figure 5, for phase A the current entering is Fig. 7. Brushless DC motor (Phase A as before, Phase B reverse)
same of the figure 4. In case of phase B the current is
entering via SB and leaving via FB. So the south pole will For counter clockwise rotation the sequence of the
shift to the new postion in between SB and FA. Also in switching will be starts form figure7 then figure 6, figure 5,
between SA and SB neutral pole will be created. So the figure 4.
rotor will try to align with this new postion. Hence the rotor
will move clockwise 45 degree.
IV. STATOR CURRENT SWITCHING
The direction of the stator current will be controlled by
using semi-conductor devices. The switches are may be
MOSFET, BJT. In the figure 8 the positions of the switches
are shown. Each phase connected with four switches. They
are S1, S2, S3, and S4. In the figure 4, for phase A the
current enter via FA and leaving via SA. So for phase A,
considering the figure 8 switch S2 and S3 must be close and
S1 and S4 must be open, in order to flowing the stator
current from SB to FB. So the rotor will move 45 degree.
Fig. 5. Brushless DC motor (Phase A as before, Phase B reverse)
Similarly for figure 5, 6, 7 the respective switch of figure8 TABLE III. SWITCHING SEQUENCE OF CLOCKWISE AND
COUNTERCLOCKWISE ROTATION IN TERMS OF ANGLE(COMBINING TABLE I
will turn on and off. AND TABLE II)
SA1 0 0 1 1 0 0 1 1 0
SA2 1 1 0 0 1 1 0 0 1
SA3 1 1 0 0 1 1 0 0 1
SA4 0 0 1 1 0 0 1 1 0
SB1 1 0 0 1 1 0 0 1 1
SB2 0 1 1 0 0 1 1 0 0
SB3 0 1 1 0 0 1 1 0 0
Fig. 8. Stator switching of phase B and phase A SB4 1 0 0 1 1 0 0 1 1
Table I and Table II shows the switching of phase A From table III,
and Phase B for various positions. The table exactly • When the rotor position is 0 degree:
matches with the previous discussions of stator switching. The switch s1 and switch s4 are off and switch s2 and s3 are
For clockwise rotation the rotor moves from position 1 to on for A phase. The switch s2 and switch s3 are off and
position 4. For counter clockwise rotation the rotor moves switch s1 and s4 are on for B phase.
from position 4 to position 1. The turn on of the switch • When the rotor position is 45degree:
represented as binary one and the turn off of the switch The switch s1 and switch s4 are off and switch s2 and s3
represented as binary 0. are on for A phase. The switch s1 and switch s4 are off and
switch s2 and s3 are on for B phase.
• When the rotor position is on the position is
TABLE I. FOR PHASE A(S_A-F_A) 90degree:
The switch s2 and switch s3 are off and switch s1 and s4 are
Switch Position 1 Position 2 Position 3 Position 4 on for A phase. The switch s1 and switch s4 are off and
switch s2 and s3 are on for B phase.
S1 0 0 1 1 • When the rotor position is on the position is
135degree:
S2 1 1 0 0 The switch s2 and switch s3 are off and switch s1 and s4 are
on for A phase. The switch s2 and switch s3 are off and
S3 1 1 0 0 switch s1 and s4 are on for B phase.
• When the rotor position is on the position is
S4 0 0 1 1 180degree:
The switch s1 and switch s4 are off and switch s2 and s3 are
TABLE II. FOR PHASE B(S_B-F_B) on for A phase. The switch s2 and switch s3 are off and
switch s1 and s4 are on for B phase.
Switch Position 1 Position 2 Position 3 Position 4 • When the rotor position is on the position is
225degree:
S1 1 0 0 1 The switch s1 and switch s4 are off and switch s2 and s3 are
on for A phase. The switch s1 and switch s4 are off and
S2 0 1 1 0
switch s2 and s3 are on for B phase.
• When the rotor position is on the position is
S3 0 1 1 0 270degree:
The switch s2 and switch s3 are off and switch s1 and s4 are
S4 1 0 0 1 on for A phase. The switch s2 and switch s3 are off and
switch s1 and s4 are on for B phase.
According to table I, for phase A, the switch s2 and s3 are • When the rotor position is on the position is
on for position 1 and position 2.And the switch s1 and s4 315degree:
are on for position 3 and position 4. The switch s2 and switch s3 are off and switch s1 and s4 are
According to table II, for phase B, the switch s1 and s4 are on for A phase. The switch s2 and switch s3 are off and
on for position 1 and position 4 and switch s2 and s3 are on switch s1 and s4 are on for B phase.
for position 2.And the switch s1, s2and s3 are on for • When the rotor position is on the position is
position 3. 360degree:
The switch s1 and switch s4 are off and switch s2 and s3 are V. CONTROLLER DESIGN
on for A phase. The switch s2 and switch s3 are off and
switch s1 and s4 are on for B phase.
In above discussions by changing the switching position
of phase A and phase B of stator, user can change the rotor
position
Figure 9 shows a wave shape by multiplying the common
portion of the switching sequence. The wave shapes is
required for designing the controller circuit. The wave shape
described, for every position which switches will turn on
and off.
B14, and B23 are connected to the motor stator winding. +5v
DA2
C1
LED-YELLOW
U1
DA1 9
RESET PC0/SCL
22
23 R1
PC1/SDA
13 24
XTAL1 PC2/TCK
12 25
XTAL2 PC3/TMS 10k
LED-YELLOW 26
PC4/TDO
QA3 QA4
40
PA0/ADC0 PC5/TDI
27 C2
39 28
2SD756 2SD756 PA1/ADC1 PC6/TOSC1
38 29
37
PA2/ADC2 PC7/TOSC2 R2
PA3/ADC3
36 14
35
PA4/ADC4 PD0/RXD
15 C3 10k
PA5/ADC5 PD1/TXD
34 16
PA6/ADC6 PD2/INT0
33 17 R3
PA7/ADC7 PD3/INT1
18
PD4/OC1B
1 19
2
PB0/T0/XCK PD5/OC1A
20
C4 10k
PB1/T1 PD6/ICP1
3 21
PB2/AIN0/INT2 PD7/OC2
4
PB3/AIN1/OC0
5 R4
PB4/SS
6
PB5/MOSI
7 32
8
PB6/MISO AREF
30 CW / CCW 10k
PB7/SCK AVCC
QB1 QB2 ATMEGA32
2SD756
2SD756
R5
DB1
10k
LED-YELLOW
DB2
LED-YELLOW
QB3 QB4
2SD756 2SD756
DA14
9
U1
RESET PC0/SCL
22
VIII. CONCLUSION
23
PC1/SDA
1
PA6/ADC6
PA7/ADC7
PD2/INT0
PD3/INT1
PD4/OC1B
17
18
19
37
36
35
PA2/ADC2
PA3/ADC3
PA4/ADC4
PC7/TOSC2
PD0/RXD
14
15
done in microcontroller (AVR compiler, proteus) and logic
gates generated in DSCH-2. The results of simulation give
PB0/T0/XCK PD5/OC1A PA5/ADC5 PD1/TXD
2 20 34 16
PB1/T1 PD6/ICP1 PA6/ADC6 PD2/INT0
3 21 33 17
PB2/AIN0/INT2 PD7/OC2 PA7/ADC7 PD3/INT1
4 18
D
R1 controller that was design is expensive, difficult to
DB23
understand. But the proposed controller is easier to
10k
QB3
LED-YELLOW
QB4
understand and this is too much good to use in various
application.
2SD756 2SD756
REFERENCES
[1] B. Das, S. Chakraborty, P. M. Kasari, A. Chakraborti and M.
Bhowmik, “Speed control of BLDC Motor using soft computing
Fig. 15. Microcontroller based BLDC motor controller(Automatic input Technique and its stability analysis,” vol. 3, issue 5,
instead of sensor) ISSN(Online):2249-071X.
[2] T. Kenjo, “Permanent magnet and brushless dc motor”, Oxford,1985.
[3] B. Singh, S. Singh, “State of the art on Permanent Magnet Brushless
The wave shapes that shown in figure 14 is the output DC Motor Drives”, Journal of power Electronics, Vol.9, No. 1,
signal of the controller circuit A14, B14, A23, B23 which January 2009.
will drive the switching devices. The simulated waveshape [4] B.K. Lee and M. Ehsami, “Advanced Simulation Model for Brushless
exactly match with the theoretical waveshape of figure 9. DC Motor Drives”, Electric power Components Systems, 31:841-868,
The above waveshpes are fouund by using another 2003.
microcontroller chip. The second microcontroller chip [5] R.J. Tocci and N. S. Widmer, “Digital Systems”, 7th edition, Prentice
generates the sensor signal automatically. Practically the Hall.
controller circuit get the sensor signal automatically [6] V. K. Mehta, R. Mehta, “Principles of Electrical Machines”, S. Chand
and company Limited.
depending on the rotor position.Due to the limitation of
[7] T. J. E. Miller, “Brushless permanent magnet and reluctance motor
getting the sensor and motor, the sensor is replaced by drive”, oxford, 1989.
microcontroller chip only for simulation purpose.Figure 15 [8] V. Hubik, M. Syeda, V. Singule, “Mathematical model of a sensorless
shows the automatic sensor signal generator. BLDC motor for aerospace actuators”, in modeling and simulation
MS 2008, Qubec City, Canada: 2008, p.165-169. ISBN: 978-0-
88986-741-3.
VII. COST COMPARISON OF TRADITIONAL BLDC MOTOR
CONTROLLER WITH THIS PROPOSED CONTROLLER
The price of the brushless dc motor controller that is
available in the market is $ (14-18). Considering the
following table:
MOSFET 8 $ 1.5
Hall Sensor 4 $3
Total= $ 8.62