IMPLEMENTATION OF FOUR QUADRANT OPERATION OF

1 2 3 4 5 6

BLDC MOTOR USING MPC

7 8 9 9

A Project Report
Submitted in partial fulfillment of the
requirements for the award of Degree of

Bachelor of Technology
in
Electrical and Electronics Engineering

by

ARDHA SRIKAR REDDY

17951A0293

DEPARTMENT OF ELECTRICAL AND ELECTRONICS ENGINEERING

INSTITUTE OF AERONAUTICAL ENGINEERING

(Autonomous)

Dundigal, Hyderabad-500043, Telangana

MAY, 2021
 DECLARATION

I certify that

a. The work contained in this report is original and has been done by me under the guidance of
my supervisor(s).
b. The work has not been submitted to any other Institute for any degree or diploma.
c. I have followed the guidelines provided by the Institute in preparing the report.
d. I have conformed to the norms and guidelines given in the Ethical Code of Conduct of the
Institute.
e. Whatever I have used materials (data, theoretical analysis, figures, and text) from other
sources, I have given due credit to them by citing them in the text of the report and giving their
details in the references. Further, I have taken permission from the copyright owners of the
sources, wherever necessary.

Place: Signature of the Candidate

Date: Roll No: 17951A0293

 CERTIFICATE

This is to certify that the project report entitled IMPLEMENTATION OF FOUR

QUADRANT OPERATION OF BLDC MOTOR USING MPC submitted by ARDHA
SRIKAR REDDY (17951A0293) to the Institute of Aeronautical Engineering, Hyderabad in partial
fulfillment of the requirements for the award of the Degree Bachelor of Technology in Electrical and
Electronics Engineering is a bonafide record of work carried out by him/her under my/our guidance
and supervision. The contents of this report, in full or in parts, have not been submitted to any other
Institute for the award of any Degree.

Supervisor Head of the Department

Date:
 APPROVAL SHEET

This project report entitled Implementation of Four Quadrant operation of BLDC Motor
1 2 3 4 5 6 7 8

using MPC by Ardha Srikar Reddy (17951A0293) is approved for the award of the Degree
9 9

Bachelor of Technology in ELECTRICAL AND ELECTRONICS ENGINEERING.

Examiners Supervisor (s)

Principal

Date:

Place:
 ACKNOWLEDGEMENT

I am greatly indebted to my project guide, Dr. M. PALA PRASAD REDDY, Associate

Professor, Department of Electrical and Electronics Engineering, for his invaluable guidance
and inspiration which have sustained me to accomplish my work successfully.

I have a great pleasure in expressing my sincere thanks to Dr. P Sridhar, Head of the
department, who ignited my hidden potential, built career, inculcated self-confidence, sincerity
and discipline within me and gave a path of success.

It is my pleasure to acknowledge gratefully to the Management and Principal, for their

inspiration, valuable suggestions and keen interest during my work.

I am grateful to the teaching and non-teaching faculty members of the Department of Electrical
and Electronics Engineering, for their encouragement and the facilities provided during my
project work.

I appreciate the arduous tasks of my friends, near and dear who injected patience,

fortitude to overcome the challenges that have come my way.

I perceive this opportunity as a big milestone in my career development. I will strive to use
gained skills and knowledge in the best possible way, and I will continue to work on their
improvement, in order to attain desired career objectives. Hope to continue cooperation with
all of you in the future.

With Gratitude,
Ardha Srikar Reddy- 17951A0293
 Abstract

Keywords: Simulink model, BLDC, Four-Quadrant, Back-EMF, Voltage, Current, Torque

Ripples, MPC, Robust, PID, Frequency.

The Simulink model for the BLDC motor in the four quadrants is designed and the characteristics
like voltages, back EMFs, currents, and torque ripples are noted during the same process. When
the simulation is performed, we see an increment in the torque ripples, so we use MPC in our
study to show the reduction in the torque ripples, and other vital characteristics like speed,
torque, and back-EMF are to be observed. This monitoring of these characteristics is done using
MPC (model predictive controller) which is a robust technique in the existing controlling types,
which controls the quadrant operation without losing any power. Generally, an MPC works in
such a way that it considers the past information, i.e., the output that contains high torque ripples
and creates instances about the connected plant by creating a model of the plant and then use
the set of guidelines using which it predicts the future and implements the prediction on the
model plant on a trial and error basis, in the first set of instructions a trial values are provided
for the functioning of the model which are just sample predictions, after these values are given
to the plant as input, a feedback signal is connected to the MPC to the model output port which
is used to analyze the plant output which is obtained when these trial values are given, then
depending on the obtained output which ran on predicted values and again in the part of the
process the predictive control checks the values by comparing them to referential values which
are provided to the predictive control through the reference port measures the error or
differences between the obtained value and the reference value and sends in the other set of
values to the plant and does this process till the difference between the obtained signal and the
reference signal is reduced that the obtained value will be much nearer to the reference value
given to the system which are obtained by taking ideal conditions of the plant and successfully
obtain the required characteristics for which the controller is being used in the plant. We use
MPC instead of PID as time and space complexity of the PID is more than that of MPC and for
those purposes we select MPC as a controlling technique. The ripples in the torque are observed
in the system when no control is used and these are eradicated from the system when we perform
the operation with the presence of predictive control as a controlling technique and also monitor
the other things like voltage, back-EMF and frequency waveforms using the same which also
seem to be improved when compared to the system without controlling technique to that of the
controlled system.
 INDEX

S.NO CONTENTS PAGE NO

1 INTRODUCTION 1

1.1 Overview 1

1.2 BLDC motor 1

1.3 Construction of Brushless DC motor 1

1.4 Brushless DC motor operation principle 2

1.5 Advantageous points of a DC motor (Brushless) 3

1.6 Disadvantages of a DC motor(brushless) 4

1.7 Applications 4

1.8 Aim & Objective 4

1.9 Scope of the project 4

1.10 Constrains 4

2 LITERATURE 5

2.1 Review of literature 5

3 PULSE WIDTH MODULATION TECHNIQUES 7

3.1 INTRODUCTION 7

3.2 Pulse Width Modulation Mechanism 7

3.3 Voltage options 8

3.4 Cataloguing of Pulse Width Modulation procedures 10

3.5 Sine-triangle modulating technique 10

3.6 Phased disposition 13

3.7 OPD- opposed phase dispositioning 15

3.8 Alternately opposed phase Disposition 17

3.9 Space Vector Modulation 18

3.9 (a) Understanding of SV-PWM 19

3.9 (b) Transformation of co-ordinates 20

 3.10 VOUT for the 3 phase inverter 22

3.11 Normal switch vector and sectors 24

3.12 Current-regulated methods 25

3.13 Hysteresis control 25

3.14 Advantageous points 26

3.15 Disadvantages 27

3.16 Sigma delta modulating with time 27

3.17 Four quadrant operation of BLDC 27

4 Model Predictive Control 29

4.1 Model Predictive Control 29

4.2 Reasons for success of MPC 30

4.3 Additional types in Model predictive controller 30

4.4 Fundamentals of Model predictive controller 30

4.5 Basic formulation 31

5 IMPLEMENTATION OF BLDC MOTOR 34

5.1 Introduction of Matrix Laboratory 34

5.2 Toolkits in math Library 34

5.3 Simu-Link 34

5.3 (a) Conceptual knowledge of logical flow and signaling 34

5.3 (b) Connection Block 35

5.3 (c) Source & sink 36

5.3 (d) Continual & discrete system 36

5.3 (e) Un linear operator 37

5.3 (f) Operations in mathematics 38

5.3 (g) Signal and information transmission 39

5.4 Designing Subsystem 39

5.5 Specifying simulating parameter 40

5.6 Sim power application 40

 5.6 (a) Preview 40
5.7 Advantage Simulink designing 40
5.8 BLDC motor without using MPC 41
5.9 BLDC operation using MPC 42
5.10 Speed Converter 43
5.11 BLDC motor 44
5.12 Decoder Model 45
6 SIMULATION RESULTS 46
6.1 Uncontrolled motor without MPC 46
6.2 Controlled operation of BLDC motor in four quadrants using MPC 48

7 CONCLUSION AND FUTURE SCOPE 51

7.1 CONCLUSION 51

7.2 FUTURE SCOPE 52

REFERENCES 53
 List of Figures

S.NO CONTENTS PAGE NO

1.1 DC motor (Brushless) 2
1.2 Internal structure 3
1.3 Automotive industry 4
3.1 PWM 8
3.2 Classification about Pulse Width Modulated multi-level
converter modulating techniques 10
3.3 3-phase Sine Pulse Width Modulated inverter 11
3.4 Waveforms of 3-phased S-PW modulated inverter 12
3.5 switching patterns in PD 14
3.6 CPWM simulation using PD 15
3.7 POD patterns 16
3.8 CPWM simulation using OPD 16
3.9 APOD for five-level inverter 17
3.10 CPWM for 5-Level using APOD 18
3.11 space vector with constituents 19
3.12 Three-phase Power inverter 21
3.13 Voltages of Inverter 23
3.14 Basic Switching vectors and sectors 24
3.15 Hysteresis current control with the help
of 3-Phase inverter 26
3.16 Controller current of phase- “a” 26
3.17 Four quadrant operation with operating modes 27
4.1 Functioning of MPC 31
4.2 Block diagram of proposed system 32
4.3 Block diagram of MPC technique 32
4.4 MPC control concept 33
5.1 Simu-link library 35
5.2 Connection block 35
5.3 Source & sink 36
5.4 continual & discrete system 37
5.5 Simu-link block 38
5.6 Math block 38
5.7 signal & system 39
5.8 simulating parameter 40
5.9 BLDC without MPC 41
5.10 BLDC with MPC 42
5.11 Speed converter 43
5.12 BLDC motor 44
5.13 Decoder 45
6.1 BLDC without MPC 46
6.2 Speed and Voltage waveform 47
6.3 BLDC with MPC 48
6.4 Voltage and Frequency 49
6.5 Actual and Referential speed 49
6.6 Torque Waveform 50
 List of Abbreviations

BLDC Brushless DC motor

MPC Model Predictive Controller

DC Direct current

PE Power electronics
PWM Pulse Width Modulation

PD Phased disposition
PMDC Permanent magnet direct current
POD Phase opposed disposition

APOD Alternate phased opposed disposition

SVM Space Vector Modulation
VSI Voltage source inverter
MATLAB Matrix Laboratory
 CHAPTER-1
INTRODUCTION
1.1 Overview

In the mid-nineteenth period, the vector control strategy (VC) arrangement greatly improved
electrical drive efficiency. Even so, there are many significant pitfalls to all these programmes,
namely high system sensitivity and high costs. Both driver development controls are primarily
aimed at energy saving. While traditional DC engines have better control features, their
performance is affected by problems with switching. Due to its excellent functionality and
efficiency, BLDC engines, also recognized as PMDC engines are among the most common
forms of engine. We can observe the above-mentioned motors frequently in various industries
owing to the architectural feasibility for all safety-critical purposes, such engines are also used
in the automotive industries. Throughout this assessment, the MPC methodology is being used
to examine a four-quadrant BLDC engine process. A torque regulator has also been developed
to minimize disturbance in the current configuration. There are several benefits to the presented
design, like better performance, good lifespan, faster operation, sound - free service, etc. Such
features of BLDC engines lead to expanded implementations like aerospace, automation,
machines, robots, electric cars, etc.

1.2 BLDC MOTOR

The key aspect for BLDC engines is mainly reliability. The rotor will be the only carrier of the
magnet and requires no strength. There have been no connecting objects to other parts of the
motor. The engine uses controlling circuits respectively. BLDC engines may use controls or
hall sensors to determine at which position the rotor lies at a certain point in time.

1.3 Construction of Brushless DC motor

The key aspect for BLDC engines is mainly reliability. The rotor will be the only carrier of the
magnet and requires no strength. There have been no connecting objects to other parts of the
motor. The engine uses controlling circuits respectively. BLDC engines may use controls or
hall sensors to determine at which position the rotor lies at a certain point in time.
 Fig 1.1: DC motor(brushless)

There are no current carrying commutators in a brushless motor. The energy within a motor
drive is turned on by a switching system same as a optical encoder. The architecture of a
brushless DC engine can vary based on the in and out runner style.

Out runner: The magnet is the rotor revolving round the stator. This style of application is
applicable when the user requires high torque instead of high speed. this type is mainly used
for high torque applications.

In runner: the static drum rotating with a magnet has been the stator. This style of application
is mainly applicable where the user requires more speed instead of more torque. this type is
used for high-speed applications.

1.4 Brushless DC Motor Operation Principle

The operation of a dc motor one without brushes is almost as same as one with a dc motor
having brushes. according to the Lorentz law whenever a conductor having a flow of electrons
when located in a effect of magnet, there is force that will be experienced by that conductor
carrying a current I. the stator or the part of the motor which is static is the conductor with
current (I) whereas the rotor or the rotational part is the magnet.
 Fig 1.2: Internal structure

when the magnet, i.e., the stationary part of the motor receives power from the power source
they tend to act as electro magnet and start to produce constant field in the gap. In spite of the
truth that the given source to the motor in a dc voltage source but, because of the switching
action that we do we tend to observe an output which will be an Ac voltage having a trapezoidal
wave form. Here the rotational part of the motor tends to continue in rotation because of the
force of attraction between the conductor with current(I) which is the stator and the permanent
magnet which is the rotor in our motor.

We can see there will be two types of winding namely high signals and low signals where the
type with high value are termed ad north pole and the type with the low value is termed as the
south pole. The rotation action of the motor occurs because of the alignment caused between
the rotors north and south poles with the stators north and south poles.

1.5 Advantageous points of a DC motor (Brushless)

• low maintenance due to the absence of brushes.

• can exhibit good thermal behavior even with a smaller size.
• can be used for applications with more speed requirement and the noise is also less.
• The efficiency and output power are completely independent to the size and are
significantly higher compared to other standard motors.
• Small geometry and less weight compared to the other motor.
• Long life span.
• good dynamic response.
1.6 Disadvantages of a DC motor (brushless):
• costly.
• the controlling technique required is generally costly.
• difficult circuit is needed.
• these require an additional set of sensors for smooth functioning.
1.7 Applications:
DC Motors(brushless) can be seen being used in various situations where the loads are of
different kinds such as varying as well as constant. Other than these we can also see in various
sectors that are prevailing nowadays such as automotive industry, flights and mainly in
automation industry and most importantly in health management.

Fig 1.3: Automotive Industry

1.8 Aim & Objective:

Our main aim and objective will be monitoring the basic characteristics of a BLDC motor like
speed, back-EMF and torque. Reduction of torque ripples when the four-quadrant operation is
performed. Implement MPC (model predictive controller) as a controlling technique for the
same.

1.9 Scope of the Project:

This project will be very useful in reducing the torque ripples while using BLDC motor and we
can also see the usage of the MPC and we can implement it in various areas for better results in
the applications.

1.10 Constrains:

The major constrains that are raised during the process is the linearization of the MPC as the
MPC won’t work unless it is linearized. Only this thing is difficult when compared to other
controllers. This issue can be solved if the process is done under supervision and analyzing the
inputs appropriately and connecting the MPC at the exact position.
 Chapter-2
Literature
2.1: Review of Literature

The traditional DC engines have better control features, their performance is affected by
problems with switching. Due to its excellent functionality and efficiency, BLDC engines, also
recognized as PMDC engines are among the most common forms of engine. We can observe
the above-mentioned motors frequently in various industries owing to the architectural
feasibility for all safety-critical purposes, such engines are also used in the automotive
industries.

In the mid-nineteenth period, the vector control strategy (VC) arrangement greatly improved
electrical drive efficiency. Even so, there are many significant pitfalls to all these programmes,
namely high system sensitivity and high costs. Both driver development controls are primarily
aimed at energy saving. When we perform the four-quadrant operation on the BLDC motor the
proposed system would contain few negative points such as irregularities in the voltage and
frequency waveforms. High torque ripples could be seen when the process was done which is
generally a negative point that cannot be neglected as this point could be fatal for the smooth
functioning of the BLDC motor so there was a high need for a controlling technique which
would control the present scenario and reduce these ripples caused in the torque waveform and
also help in reducing the irregularities that were caused in the voltage and frequency waveforms.
In the past the standard controllers like P, PI & PID were used and more mainly PID controller
was used as a controlling technique as in that period the use of PID controller helped people
attain greater success in the following processes and also attain good controllability which
people never expected. So, we could see the use of PID as a controller in a wide range and
various applications to manage the appliances and control the disturbances if caused in the
devices until now where time and space constants are most importantly considered when
defining the efficiency of the controller the standard PID failed in giving least time and space
complexity when used for large and heavy appliances. We would have to use many controllers
at various places which in turn increased the space required for storing the file and also the time
for the compilation of the process which was a main backdrop.

The MPC which is the model predictive controller is a type of controller which requires less
time and space complexity when compared to standard controllers as a single MPC block would
do the function and replace the multiple PID’s placed in the circuit which made the circuit
simple and even easy to compile. When people searched for an alternate controlling technique
MPC offered itself with less time and space complexities and even better features which makes
the user opt the MPC instead of standard controllers. The PID was giving the controlling to the
present scenario only without considering any other previous or past factors, this backdrop was
solved using the MPC where it considers the past factors in predicting the future and operate
the model in the present. The controller takes the past information to which it is connected into
account and calculates the optimal future values to get the best output from the system to which
it is connected.

Our proposed system of BLDC motor in 4 quadrants was also implemented initially using the
standard controllers which when compiled gave the time and space complexity issues with the
correct output that was supposed to be obtained but in order to minimize this issue of time and
space throughout this assessment, the MPC methodology is being used to examine a four-
quadrant BLDC engine process. A torque regulator has also been developed to minimize
disturbance in the current configuration. Here the MPC helped to achieve the same results with
better time and space issues and also obtain higher functionality with minimal efforts put to the
system. When compared to PID controller the model prediction takes the past information of
the system and analyzes to give the appropriate signal that will decide the future values of the
output of the system which was not done by the PID controller. If we obtain the functionality
for the near future then it will be better to choose it as we won’t have to make any changes till
any major fault occurs and this option was not available for the PID controller.

M. Gopinath and T. Yuvaraja (2016) presented the working of BLDC motor in the four
quadrants which has been taken as reference for the proposed work and the total working part
is done according to their research and the results are also compared to their results and for our
effort the results match at all cases. The use of predictive control is done in place of PID control
where the obtained results are obtained 0.025 seconds faster than the other controlling
technique.
 Chapter-3

Pulse Width Modulation Techniques

3.1 INTRODUCTION
The majority of PE devices run on "switching action". Based on which we can say that the
switching action works as any of these two states: switch off or switch on state. We can
experience a huge loss of power that is dissipated when there will be any anonymous activity
rather than only expected and required change of state from conduction stage to non-
conduction stage. Here we can the switching action either in on or off state that too happens so
quick that the passive elements on in and out port terminals of the converter reduce the given
information to its average value or filtered input value. This obtained output is so filtered that
it only contains the required direct current values or Alternate current with less frequency. As
the required output is controlled with the help of modulation of the pulses width, thus this
technique is termed as Pulse Width Modulation (PWM). For optimum switch components
attenuation, transition frequency fc is to be of a large value that is the marge multiple of the
ideal component f1 present at the in or out ports. Because of less pulses efficient modulation is
needed to minimize distortion to the lowest possible value. Such situations use multiple level
converter to significantly minimize the distortion by decreasing the switch action and increment
in the visible pulses in the total converter.

3.2 : Pulse Width Modulation Mechanism:

The standard PD-source and current-regulated method of a PWM is generally classified

in two categories. VS (voltage source) approaches lend themselves more effectively to DSP or
PLD implementation. Present control, at the other hand, usually rest on the analogue
applications that will be consistently run to a limited power value. Harmonical efficiency of the
methods that are generally regulated with the help of current are not that large to the values when
compared to the methods that run on voltage. An example of Pulse Width Modulation method
has been shown below.
 Fig 3.1 PWM

Receiving PD value, VA0= Vdc /2, When Vcon> Vtri , and VA0= -Vdc /2. The equation
223 vv

presented below shows the equation for M:

𝑉𝑉𝑉𝑉𝑉𝑉𝑉𝑉 𝑉𝑉𝑉𝑉 𝑉𝑉 (𝑉𝑉𝑉)1 3.1

𝑉= =
𝑉𝑉𝑉𝑉 𝑉𝑉𝑉
⁄2

3.3 : Voltage options:

Voltage modulating has followed majorly 2 types: time domain sine triangle
modulation and space vector modulation. The switching condition can be used to directly
regulate the inverter's line-to-ground voltage. The switching state of a single inverter is
separated to transistor signal. Then also on a safety purpose on controlling it is always
advisable to take care about the line to neutral voltage at load/receiving end. Popular
terminology on a 3-phase scheme has direct current off-set and some tripled harmonic. In the
aim to reduce the choices, the designated line to ground is specified to the given equation as
below:
 3.2

m denotes the index of modulation ranging between the values 0 and 2/√3 and
𝜃𝜃 electrical angle of the converter.
calculated new duty cycle values by representation of formula i: -

3.3

Now, command voltage component in vectorial representation obtained as

3.4

here the command Q and command D axial voltages are in relational with the A- B-C values
present in the above given equation:
 3.5

3.4 : Cataloguing of Pulse Width Modulation procedures:

Fig 3.2 Classification about Pulse Width Modulated multi-level

converter modulating techniques

3.5 : Sine - Triangle modulating technique:

ss ss

The equation given below shows the switch actioning in the modulating technique
namely Sine triangle
ss sss
 3.6

The figure shown/given below shows the application of sine triangle technique of modulation
in a three phased inverter.

Fig 3.3: 3-phase Sine Pulse Width Modulated inverter

Among the other ways to show that the waveform obtained is modulated we follow the
method saying that if triangle waveform is intersected by the modulation signal, then we can
say that that it underwent VS modulation.
 Fig 3.4: Waveforms of 3-phased S-PW modulated inverter

Assume that the frequency, v tri= Fs =pulse width modulated frequency

VCON = F1= essential frequency.

𝑉𝑉𝑉 = 𝑉𝑉0 − 𝑉𝑉0,

𝑉𝑉𝑉 = 𝑉𝑉0 − 𝑉𝑉0 3.7
𝑉𝑉𝑉 = 𝑉𝑉0 − 𝑉𝑉0

Modulated amplitude ratio (ma) is shown using the equation:

3.8

Where, (𝜃𝜃0)1: essential frequency part of VAO

The equation which gives the ratio of modulated frequency is given by:
 𝑉𝑉
𝑉𝑉 =
𝑉1

Here, both the known components that are the PW modulated frequency as well as the
fundamental frequency are supposed to be integers of odd type. M is the value which will
always be divisible by 3 for three-phase PWM inverter.
For level-shifted multicarrier modulation, we can experience/ see the existence of 3 different
types of pulse width modulating techniques that are present with each type of phase relations:
(I) Phased disposition, where we can see that all the waveforms available will be in a single
phase.
(ii) Phase opposed, where we observe that waves that above the level of 0-reference will be in
phase but the waves that are below the 0-refered line will be in 1800 out of phase.
(iii) Alternate phased (APOD), where every waveform individually is having 1800 phase
difference with every other waveform present in the series.

3.6 : Phased disposition:

In this type of dispositioning technique, we can observe that whatever phases that are
present in these criteria are always in phase to every other waveform coexisting with it. For
instance, if we take a 3-phase system then we can observe 3 different modulated waves for
these 3 sine waves which generally are out of phase with one another whereas in here as it is
phased situation, we can see that the obtained waveforms after the process of modulation will
always be in same phase coexisting with one another.
The figure clearly shows in the positive region of the modulated region whenever the signal is
higher than the tr-1 and tr-2, switches 1 and 2 are turned on and on additional note that the
switch s2 is completely turned on through the same positive period of modulation process.
During the period when we see that the switches s1 and s2 are in on condition then we can see
that the voltage state of converter is transformed to +vdc/2 and during the same process the
converter is changed zero by itself due to which we can a complete action of s2 in the positive
loop. If we use the switches in alternate fashion that, is we turn on and turn off the switches s1
and s2 in alternate way then the voltage level of converter is transformed from positive half of
V dc to zero. On the same hand when the modulated signal is in the negative side of the loop
a

that will be the other half of the given input signal and voltage value of the converter is changed
from zero to negative half of vdc. The voltage equations of phase for a 3 phase
balanced loads will be given using the existing functions and present input voltages of the
nodes V30 = (Vdc)/ 2, V20= 0, V10= ((-Vdc)/ 2).

3.9

Fig 3.5: Switching patterns seen when phased disposition-based Pulse Width Modulation is
utilized: (1) 2 triangles along with the modulate signal (2) S1 ap (3) S2 ap (4) S1 an (5) S2 an
Fig 3.6: Simulation of CPWM method which uses the phased disposition:(1) Signal of
modulation and in phase waveform (2) received voltage of “a” phase.

3.7 : OPD-opposed phase dispositioning:

In this type of dispositioning technique, we can observe that whatever phases that are
present in these criteria are always in phase to every other waveform coexisting with it
whenever these waves are present above the 0-reference line if in any case these waveforms
are found below the 0-refered line then these lines of waves will be in opposite phases with a
difference in phase angle of 1800. For instance, if we take a 3-phase system then we can observe
3 different modulated waves for these 3 sine waves which generally are out of phase with one
another whereas in here as it is opposed phase situation, we can see that the obtained waveforms
after the process of modulation will always be in same phase coexisting with one another if
these waves are present above the 0-refered line and in opposite phases when these waveforms
are below the 0-referenced line.

In the pulse width modulated system we can observe 2 triangles, one with the ranges of
1to 0 is known as the upper triangle and the other which ranges from 0 to -1 is called as the
lower triangle and both of these triangulated waves are out of the phase sequence. As the
modulated wave will be greater when compared to both waveforms, s1 ap and s2 ap are made
in ON position using switching action in addition to this the converter changed to positive nodal
voltages, when the relational information is more than the upper case and lower than the lower-
case waveform.
Fig 3.7: Using the POD carrier-based PWM scheme, the following switching pattern is
generated:(1) modulated signal along with 2 triangles; (2) s1 ap; (3) s2 ap; (4) s1 an; and
(5) s2 an.

Fig 3.8: Simulation of CPWM method which uses the opposite phased disposition. (a). signal
of modulation and phase waveforms (b) received voltage of phase- “A”
3.8 : Alternately opposed phase Disposition:
Any carrier waveform in AOPD type of modulation will be 180 0 deviated from the phase
compared with the adjacent waveform. As both AOPD and POD give the same type of output
when these are applied to a 3-leveled inverter, so in order to discuss in detail about the AOPD
we utilize a 5-level inverter in our case.
Where the number of levels N = 5, the APOD approach laws are as follows:
I) The system contains 4 waves and these 4 waves exist such that each wave has a phase
difference of 1800 compared to every adjacent wave and as the reference signal will exceed the
carrier wave the converter changes itself to +Vdc / 2.
(ii) Where the connection is smaller when compared to the highest value and higher compared
to every other value existed then the value of converter converts to Vdc / 4.
(iii) Where the relation is smaller when compared to highest 2 waves but is still higher than all
other waves existed below it then the values of converter convert to zero.
(iv) Where the comparison is higher compared to lowest wave but smaller compared to
coexisting waves then the value of converter becomes (-Vdc) / 4.
(v) As the connection will be lower than any of the existed waves then the value of the converter
changes itself as (-Vdc) / 2.
Fig 3.9: Switching pattern created for a five-level inverter using the APOD carrier based PWM
scheme: (1) signal of modulation along with 4 triangle ;(2) s1 ap; (3)s2 ap; (4)s3 ap; (5) s4 ap

Fig 3.10: Analysis of a CPWM scheme designed for a 5-Level using APOD. (1)
Waveforms of the signal of modulation along with carriers (2) The received voltage of phase
"a."

Exhibits an Alternate Phase Opposition Disposition process for a 5-Level inverter. The
actioning of switches created while comparing of modulation signals to four carrier
waveforms is given in the above figure.

3.9 : Space Vector Modulation:

The process of selecting a vector signal present in the Q-D constant referral frame is the
origin of the SVM. The given equation defines the voltage sector that is commanded which are
plotted alongside of the output vectors that are received from the inverter. The optimal vector
V s*Qds can be observed at any instant of time. It can take a round way if the
load might require the 3- phased supply. The primary point that is very essential in the SVM
scheme is to discover the 3-vectors that will be nearest to one another.

3.9.a: Understanding of SV-PWM

Step -I Setting the value of VD, VQ, VREF, and angle ()

Step -II Setting the timing durations T 2, T1, T0.

Step -III Obtaining the time for switch action for every transistor (S 1 to S6)

Fig 3.11: The space vector voltage along with its constituents in (Q, D)
3.9.b: Transformation of coordinates: (ABC to DQ)
Fig 3.12: Three-phase Power inverter
 Among the set of switches that are present for switching action we can see that the
switches S1, S3, S3 are upper set of transistors and the switches S 2, S4, S6 are the lower set of
transistors and A, B & C are the switching variables. The equations of these switching in terms
of times for transistors from s1 to s6 is formulated in the below table-3.1.

3.10 : VOUT for the 3-phase inverter:

Every transistor present has a resulting voltage. Whenever the set of upper switches
are in ON condition the switches in the lower state are in OFF condition. We can observe a
total of 8 variations that are possible when the switching action for the upper transistors only
takes place. [Vab Vbc Vca]t is a voltage vector that runs from line to line. Where [a, b, c] are
the voltage vectors.
 3.10

Line to neutral (phase) voltage vector

3.11

The following figure shows the voltage vectors for above 8 inverter voltages (V 0 to V7)

Fig 3.13: Voltages(vector) of Inverter

The following table shows the possible combinations, switching vectors, line to neutral
voltages along with line-to-line receiving end voltages.

3.11 : Normal switch vector and sectors

When discussing about the voltage vectors we can see six vectors that is active state:
v1; v2; v3; v4; v5; v6. The load receives DC connection voltage. We can see a phase difference
of 600 between every voltage vector. Other than the above mentioned 6 vectors we see other 2
vectors which are null vectors: v0; v7. These will be situated at the point of origin. The load
receives no voltage.

Fig 3.14: Basic switching vectors and sectors

3.12 : Current-regulated methods

While this system specifically controls currents, it is limited by an analogue

implementation that is impractical when used for method requiring high power levels. This
method can be digitally implemented, but then the efficiency is poorer (harmonically)
compared to that of methods that utilize voltage source as their primary source. For current-
regulated controls, the trade-off comparison to the discrete implementation and harmonical
output is a problem.

3.13 : Hysteresis control

By specifying a set of hysteresis bands, the hysteresis current-control principle often used on
the 2-Level system can be applied on the multi-level systems. The control's simple operation
entails specifying equally distanced bands of hysteresis on the 2 sides of the command current.
When the measured value of current is different from the command value and reaches the
hysteresis band, the voltage level is raised by one. This control's most critical feature can be
termed as the voltage level will either be at its peak stage or bottom stage whenever the calculated
value of current will reach the lowest or top band in the hysteresis bands. By this we can say that
the current can vary around the commanded values. Besides, multilevel hysteresis control
responds to phase shifts in commanded current similarly to two-level hysteresis control. The
current reaches the band when we use a single band and keep on using it each time by just
incrementing or decrementing its value at each step, the amount of analogue circuitry can be
decreased. The current error is then driven to zero using timing and a voltage regulated
oscillator. This approach is extended by using two hysteresis bands to improve complex output
while only using a limited quantity of analogue circuits for more range of voltages. The below
diagrams show the utilization of 2 bands of hysteresis in a multi-level inverter where one of its
band is used for management of current and the other for managing of capacitive voltages. The
diagram below depicts a 3-Phase Inverter for Hysteresis current control.
aa
 Fig 3.15: Hysteresis current control with the help of 3-Phase inverter

The figure given below shows the hysteresis current controller.

Fig 3.16: Controller current of phase- “a”

The information about the current controller is given below:

3.14: Advantageous points

(1) good dynamic result

(2) expense is less and easy to implement

3.15 : Disadvantages:

(1) occurrences of ripples in current in steady state.

(2) changes in the switching frequency.

(3) process creates internal harmonic parts.

3.16 : Sigma delta modulating with time:

The sigma-delta function is used in several current-regulated schemes. The current

error is used to calculate the per-phase switching condition based on the hysteresis degree h.
The feature may be applied directly with analogue components or by the use of a DSP with a
set clock frequency. The hysteresis frequency in a two-level device at 0, and the power is
reduced to the value of normal modulated value. The monitoring of the value of current gets
improved as the clocking period increases, we require more frequency for obtaining effective
results. Due to this the control will be rather unappealing, despite the fact that automated
application is advantageous. The principle of multi-level modulation depicted at this point. On
general basis this method performs by either incrementing or decrementing the voltage value
by One on every DSP clocked cycle based on whether value of current error is positive or
negative. The hysteresis band does not need to be specified in this control. The power is reduced
to normal delta modulation in the two-level implementation. In order to achieve effective
current monitoring, the clock frequency must be comparatively high, as with clocked sigma-
delta modulation.

3.17 : Four quadrant Operation of BLDC:

Fig 3.17. Four quadrant operations with operating modes

Though we know the fact that the present dc motor with brushes are having enough efficiency
and also have the properties that are more than enough for our general purpose usage but these
lack at a point in operation as they contain commutator and brushes which require high
maintenance which is definitely a negative point when compared to the existing situation of
lack of skilled people this disadvantage caused by the existing dc motor(brushed) can be is
already being overcome by using mostly similar type DC motor(brushless) and these do not
require much maintenance as they do not contain any type of commutators or brushes which
require maintenance. The only reason this is of a DC type is because its coils are powered using
DC source. The windings of the stator receive DC power. Now as shown in the above diagram,
we can see that there are four types of operational modes that are possible when using a DC
motor of this type. We can say the following by seeing the plot of X-Y which is of speed/torque
that motor is in forward motoring which is due to the forward direction of the torque.

When we have a look at the third part, we see that the results are quite opposite to that of results
obtained in first part this is caused due to the reversed notation of speed/torque. Hence, we say
that the working of the motor will be on back motion with negative torque. In the remaining two
parts we can see that speed and torque are not in same direction in either of the parts as in one
part we see motor speed in positive side but the motor stops because the torque is in the opposite
direction and in other part though the torque supports but here the speed is not supportive and
speed pushes the motor in other direction resulting it to stop in these both quadrants (Q2 and
Q4). Instead of waiting for the main phase to come to a complete stop, continuous energization
is attempted. The rotor is now rapidly slowed to a complete stand still. As a result, determining
the precise moment when the machine's rotor is optimally positioned for reversal is required.

Now for our case we use the hall sensors to determine the position of rotor and tell the direction of the
machine. That will be the appropriate moment to consider activating the stator which will make the
motor do the motoring action in the counter clock wise direction. Generally, as the motor will be closed
during this operation, we have some kind of detection device to govern the exact situation of the
rotational part so as to tell whether it is in forward motion or in reversed motion so we use the hall
sensors which helps us in detecting the rotor position and helps us to overcome this problem and take the
maximum efficiency out of the DC motor (brush less).
 Chapter-4
MODEL PREDICTIVE CONTROL
4.1 Model Predictive Control:

MPC is a general purpose yet a specially designed type of controller which can be used in any
circuit which needs to be monitored and controlled in wide range. Compared to MPC we also
have many types of controllers such as P, PI & PID controllers and we can use them also but
due to the time complexity error we tend to use this controller which indeed has the same
operational features and even consumes less time when compared to usage of these standard
controllers.

Here, the MPC works on the basis of past and future information. In the designing of a general
purpose MPC controller we need the following points as inputs: Model output, Reference input,
Measured disturbance(optional).

A model output port in present as one of the input ports in the MPC where it takes the feedback
signal obtained from the plant and this information is used in analyzing the behavior of the
model. A reference port is an input port which takes a state space model either in linear mode
or in nonlinear mode. This port provides the ideal information as input to the controller where
the obtained feedback signal is compared to the reference ideal signal and the difference of
output observed in the operation that deviates from the ideal reference signal is modified and
corrected in the future iterations and the error is minimized to maximum extent. This total thing
can also be done using our normal known controllers but we need to apply them at each and
every place which makes the circuit consume more time to compile and also more complexity
of the circuit. Here there are two types of horizons in the MPC namely: control horizon,
prediction horizon. We can see there will be two types of information when we speak about
MPC namely: past information, future information

Any plant to which a MPC is connected is solved on the basis of past and future predictions. In
detail we can explain that whenever a plant is connected to the respective input ports of an MPC
there will be past information where the MPC was not connected or not functional and based
on the given/present past information the MPC predicts the instance about future and takes a
set of trial values and implements them on the plant and then waits for the feedback and when
this feedback signal is obtained this is taken as input from the model output port and this
information is compared with the reference input which are generally the ideal conditions for
the working of the plant. The obtained feedback is checked to the ideal information where the
difference/error is analyzed and again the trial set of values until the obtained values nearer to
the reference values are fed to the plant. The total process of controlling done using is based on
trial-and-error method where the controller trials using some values and sets to the correct
values depending on the error that is taken into major consideration in calculation of the correct
values for the successful running of the controller to monitor the plant to which this controller
is connected.

All of the different algorithms of an MPC have almost common elements and as designed there
are different set of options for each element can always be chosen by the user, which indeed
results in formation of different set of algorithms. The set of elements that are present in the
MPC are namely: Prediction mode (process mode and disturbance mode), Controlling law and,
object function. The foundation model of the MPC is always a model that is either of the first
or second type of mode from the first element type just explained above. The process model
looks like this: Impulse response – commonly used in the industry, step reaction; Transfer
function – a bridge between academic and industrial uses. 4) state space – mostly used in
academic research.

4.2 How did the use of Model predictive controller technique prove to be successful in
industry?

These points explained below are the main reason that helped in success of MPC and also
helped in increasing its usage in many prevailing industries. The following are some of the
features that have contributed to the widespread and successful use of MPC in industries: it
naturally handles multivariable control problems, it is capable of accounting for actuator
limitations, it allows operations to be closer to constraints, resulting in higher profits, it deals
with physical implementations, it consists of more time for online computations, it is capable
of dealing with non-decremental phase and variable procedures, it is a simple method to fine-
tune.

4.3 Additional types in Model predictive controller

Other MPC classes will be discussed in this section. MPCs of other types include: Robust MPC
– ensures viability and stability; Feedback MPC – reduces viable field shrinkage; Pre-
determined Model – part by part - equation stored in database or answered offline by parametric
programming by either in a linear fashion or in a quadratic fashion; and Decentered Model as
same as independent air vehicles – accelerate computing.

4.4 Fundamentals of Model predictive controller

Model Predictive Controller has these three things: - Usage of a MPC to determine the output
along a duration in the future; Creation of a control sequence to optimize an output metric; A
receding horizon strategy, in which the horizon moves towards the future at each moment,
including the implementation of the first signal of the series measured at every point. The
technique of the MPC is defined by following approach, which has been depicted in below
figure.

Fig 4.1: Functioning of MPC

The mechanism receives the new information every time in the form of model output and at the
next moment, incremental sample is calculated and again the first process is processed, bringing
every moment in updated state. As a result, next sample is obtained with which we make the
whole process run in sequential manner. As we come across on the advancement in computer
hardware speed, MPC can now be extended to ‘fast’ processes rather than being limited to
sluggish processes. Apart from the fact that it treats constraints correctly, MPC is readily
tunable. Constraints may be imposed on output of the process that is controlled or directly at the
process itself. These limits take form the characteristics, such as regulators having narrow
adjustment radius, control surfaces with restricted deflection angles, and so on. Rate restrictions
are another kind of input constraint: valves and other actuators with small slew speeds.

4.5 A basic formulation

The plant model is assumed to be linear and time independent, the obtained function of cost is
quadratic in nature, the restrictions are of linear inequality form. The function of cost penalizes
variations in the input vector u(k) rather than specific values of the input quantity.

The Model predictive controller is considered as the advanced controlling technique in the
present industry which gives the results practically. The controlling done using MPC is
considered as a strong control and also good in handling dynamics of unknown quantity. The
future behavior is computed in accordance with the plant model. In our plant where we use the
MPC to decrease the torque ripples when we perform this operation. Additional to the fact of
improving the ripples occurred in torque waveform we can also see that using the MPC helps us
in improving the energy conservation. The model predictive controller is a member of the type
of controller family where we can find a explicitly identifiable model when it is utilized. It can
also be explained as a type of computed control techniques that uses the model for two
important tasks: future action of the plant can be explained in detail using the model predictive
controller. The model predictive control is mainly used and considered as a best option to use
as it is having capability to calculate reasonable control action to obtain the expected value
nearer compared to the actual output that is calculated theoretically or the output that should be
practically achieved.

Fig 4.2: Block diagram of proposed system

It is also commonly used in commercial applications. The skill of Model predictive controller
architecture as it produces good performing systems having the capability of running in the
absence of professional interference for extended durations of times is main reason for its
success. In order to forecast the regulated variable, MPC employs a complex model of the
operation. The projected managed signal is given to the controller as a feedback signal, there it
will be used in an online optimized process to evaluate the manipulated variable by minimizing
a suitable cost function. The control unit’s result is now utilized in real time, the protocol is
replicated with individual process data at each sampling time.

Fig 4.3: Block diagram of MPC technique

The error value that is the difference between the values of the obtained output of the plant and
that of the ideally calculated plant under optimal conditions is also given as an input signal to
the MPC which takes this input also into consideration in calculation and gives the best output
which is very close to the ideally calculated output of the plant. It can be given that the method
model is used in tandem with the farm. To forecast the regulated variable, the MPC employs a
complex model of the operation. The controller now receives the expected managed variable,
which will be utilized in online enhancement process which in turn helps us in reducing the cost
function to obtain manipulated data.

Fig 4.4: MPC control concept

Using the block diagram of the procedure that is followed we can say about the work flow of
the total procedure that is done in the operation of BLDC in four quadrants using MPC. A MPC
is connected to the 3-phased inverter which in turn will be connected to the BLDC motor. Here
the MPC predicts the set of output values we might get when we give certain set of input
parameters and then the motors perform the task, we give giving the set of results as output
which is again sent to the MPC as feedback signal. Here again in the MPC the feedback signal
is taken as reference i.e., the difference in the predicted value to the actual output is calculated
and the further input parameters that are to be given to the 3-phase inverter are adjusted such
that at a breakeven point the actual output obtained and the predicted matches at least by nearer
values. Here the MPC does the multi-tasking part where it controls the torque ripples and even
monitors the basic characteristics that are needed to be observed in a BLDC motor while
controlling the input signal that is given to the 3-phase inverter.
 Chapter-5
IMPLEMENTATION OF BLDC MOTOR
5.1 : Introduction of Matrix laboratory
This software is considered as a high-level programming software used in computing
the critical techniques. The expansion of mat-lab stands for matrix laboratory. It makes the
following processes of computing, simulation as well as program deduction in a user-friendly
format in which questions and answers are represented with the help of common math
equations.

5.2 : Toolkits in math library:

 Simu-link
 Genetical formulation
 Neural scheme
a

 Wave-let
 Model Predictive Controller

5.3 : Simu-link:

5.3.a: Conceptual knowledge of logical flow and signaling:

Data/information from different blocks is sent to another block in Simulink via lines
connecting the related blocks. Signals can be created and fed into dynamic / static blocks.
Functions may be fed data. Data will then be poured into sinks, which may be scopes,
screens, or files. Data can be attached from one block to another, branched, multiplexed, and
so on. Since all computers are discrete units, data is stored and transmitted only at discrete
times in simulation. As a result, a simulation time step (also known as an integration time
step) is required, and the choice of that step is dictated by the fastest dynamics in the
simulated system.
 Fig 5.1: Simu-link library

5.3.b: Connection Block:

Fig 5.2: Connection block

In order to connect multiple blocks in the workspace click on the arrow and drag the pointer to
the receiving block entry and leave the cursor which will make a new connection between both
blocks.
5.3.c: Source & sink:

In sources library we can many types of data sources as well as signal source blocks
that can be used in the dynamic system simulation. In these source blocks we can see a sine-
waveform, a phase, repeated series as pulse train, ramp and so on are all possibilities. If you
a

want to monitor the results of disturbances, you could always a randomized generator for signal
to replicate the disturbance. A clock can always be used to know the timing for the plot created.
To stop warning signals showing unconnected ports, the ground may be used to link to any
unused port.

A place where a input signal is ended is termed as a sink. Generally, we would save the
results in either a register or in a vector. The same information can be either viewed or saved in
the memory of the computer. In case input to the sink block has a non-zero value, then the
simulation will be terminated. The figure depicts the available block situated in the libraries of
origin & sink. In order to evade warnings about the signals that are not connected or that are
not used must be deleted to obtain smooth compilation.

Fig 5.3: Source & sink

5.3.d: Continual & discrete system:

*

All the dynamical system are termed by either discrete or continuous system. These
structures can be represented in MATLAB using transition function, integrated block, delay block
and so on.
 Fig 5.4: Continuous & discrete system

5.3.e: Non-Linear operator:

The ability to model un linear processes and obtain outcomes without solving the traditional
way will be a major benefit of using methods like Simulink. Analyzing a system with non-
linearities such as saturation, signup function, small slew speeds, and so on is extremely
difficult. Non-linearities are not a problem in simulation since processes are evaluated using
iterations. A saturation block, for example, may be used to denote a physical constraint on a
parameter, such as a PD input to a motor. When experimenting of scenarios of various
situations, manual switches come in handy. In programming, switches are the abstract
equivalent to if-then sentences
 Fig 5.5: Simulink block

5.3.f: Mathematical Operations:

Along with the signal flow, basic math operator and basic logic operation and so on. Here the matrix
benefit block simplifies matrix multiplication. There are also basic trigonometrical function
available either in normal form or inverse form. Other than these basic things we can also see
relation operator like '=,' '>,' and so on are found in these blocks.

Fig 5.6: Math block

5.3.g: Signal and information transmission:

In complex block diagrams, it might be necessary to move data from one section of the area to
another which could be present in other areas of the system. The information will be fed to a
GO-TO block, that helps in transmitting the data from one to another system.

Multiplexing reduces clutter caused by too many connectors and facilitates matrix
visualization.

Fig 5.7: Signal & System

5.4 : Designing Subsystem:

When we place a sub system from the sim lib into the parent block where you want the
code to be hidden. The function of the block determines the form of subsystem. In general, the
standard subsystem would be used, whereas according to the requirement different sub system
can be selected. For example, the sub systems could be a turned on when an appropriate signal
is given to the previously placed block.

Other than the pre-existing ports we can create user defined input or output terminals
to the system which acts accordingly as per user requirement, just by opening (double clicking)
the subsystem.

Drag the input and output ports from the Sources and Sinks files, respectively, to build
them. When ports are added to the subsystem, they are immediately added to the outer system.
Due to this we can connect the signals coming from the outer system to inner subsystem.
5.5 : Specifying simulating parameter:

In order to run the simulation correctly we set the basic parameters which ensures the
optimal working of BLDC motor.

Fig 5.8: Simulating Parameter

5.6 : Sim power application:

5.6.a: Preview:

Simulink is the world in which Sim Power Systems programme runs. As a result, before
beginning, familiarize the user to the whole document. Alternatively, as the user requires to use
the signaling and communication part then it necessary that the user is familiar with the whole
document relating to it.

5.7 : Advantages of Simulink designing:

As we all know that the control system that are related in electrical domain contain both
pure electrical as well as electro-mechanical components such as machines either in motoring
or generating action. This discipline is being improvised to increase the efficiency of the blocks
used in this whereas the designers of power system are being pushed to use power electronic
instruments and advanced control system principles that tax standard measurement methods
and techniques in order to meet dramatically improved performance requirements. The analyst's
position is further complicated depending on the point that the plant is fact that the system is
frequently nonlinear hence simulation is always best method in explaining that plant in a clear
way.
5.8 : BLDC motor without using Model Predictive Controller:

Fig 5.9: BLDC without MPC

Here, this circuit shows the conventional circuit, which tells the operation of a BLDC motor in
the four quadrants. When we connect the scopes in MATLAB to the output signal from the
motor, we can observe the output waveforms of voltage, currents, and speed. Other than these
basic parametric-related waveforms, we can also obtain waveforms relating to the torque ripples.
The circuit explained/ showed above is a simplified model or reduced circuit which is capable
of delivering the same operation that should be done by a BLDC motor when we operate it in
the four operational quadrants. Then we connect scopes to the voltage measuring devices,
which helps us show the voltage graph when the same operation is done. Other than these, we
will also get current, speed, and torque ripples waveforms, and we can observe that without the
presence of any controller, there will be a drastic increment in the levels of torque which is not
good for the good operation of the motor. Hence, we design a circuit with the controller that
will help us effectively monitor these basic parameters of a BLDC motor and help us reduce these
high torque ripples we see, and finally help us in smooth functioning of the motor under any
harsh situations.
5.9 : BLDC operation using Model Predictive Controller:

Fig 5.10: BLDC with MPC

In general, when the operation of BLDC motor is done in the four quadrants, we can see the
increment in the torque ripple when we attach a scope to it. But this increment in the torque
ripples is an undesired result of the whole process; hence, we need to imply any type of
controlling technique that will help us monitor the rotor position and other measurable
quantities when the operation process is done. Here, for our requirement, we used a MPC
available in the MPC toolbox. The detailed information about the working process and operation
process is being explained in Chapter 2. In general, an MPC used past information about the
plant to which it is connected and sets the future in the desired and required manner. Hence the
model predictive controller helps us as a controller managing in reduction of the torque ripples
that are observed when our necessary process is done.
5.10 : Speed converter:

Fig 5.11: Speed Converter

Here, this circuit shows the speed conversion formulation that is to be done in the process where
we control the speed of the motor according to the user requirement. In this process of
operation, speed plays a major role as the thing we can control in a wide range is the speed of
the motor, which helps us in reducing/ maintaining the desired quantities of voltage, current,
and torque. These all characteristics of the motor are in one or the other way speed-dependent
as if the speed increases, these also increase and go out of bounds, and if the speed decreases,
the characteristics either decrease or stay in a controlled fashion. In this above-designed circuit,
we can see MPC, which takes a reference signal that is the error signal of the desired speed and
model speed and model output port is connected after the process is done here this port takes
the output signal that is obtained after the process is done and the MPC calculates the desired
signal that is to be given further based on the present difference between the reference value
and the obtained value and this value is given to the VSI which sends the voltage signals based
on this information. Hence the controlling process is done, and we see that the ripples in the
torque decreasing after this process, and other parameters are also completely monitored.
5.11 : BLDC motor:

Fig 5.12: BLDC motor

This image shown above tells the internal schema of the BLDC motor used in the process; the
voltages, back emf, currents, rotor angles, rotor positioning, and other parameters are designed
using the fundamental transfer functions of the motor by finding the nameplate details of the
motor on which we want to conduct the test. We also connect scope at a point to know the
waveform at the point of that specified quantity. The correctness in designing the structure is
essential as the whole operation depends on the designing of the basic blocks, which results in
much higher errors in the process. Here many output parameters are connected to mux which
in turn is connected to a output node which helps us accessing the node from outside the block
as the whole block will be turned to a sub block to make the circuit neat. The out node is used
and is connected to either a scope or any measuring device or any reference signal is taken using
it and operation is done.
5.12 : Decoder model:

Fig 5.13: Decoder

Here the circuit given above consists of simple AND & NOT gates to regulates the signals to
desired measurements. Our main aim is to monitor the positioning of the rotor based on its
angle where it stops while doing the four-quadrant operation. The general operation does not
monitor this position, due to which we see the spikes in torque which are very much unrequired
for the smooth functioning of our motor. So we use a controller, in this case, an MPC, where
we measure the rotor positions at every instant give this signal to the hall sensor, which is
present for the same purpose, and using the logic gates, we make the signal detected using the
hall sensors to gate signals which then are given to 3 phase VSI which is supposed to give
voltages impulses to BLDC motor by taking the gate signals provided into consideration which
helps us in reducing the torque ripples which is the main issue for us in our operation of BLDC
in the four quadrants and needs to be reduced for smooth and lossless functioning.
 CHAPTER-6
SIMULATION RESULTS
6.1 : Uncontrolled motor without MPC

Fig 6.1: BLDC without MPC

Above presented figure shows the standard model of BLDC motor when the operation of four
quadrants is done. The figure is a reduced circuit which shows the same results as that of regular
four quadrant operating of BLDC motor. The waveforms for voltage and speed can be observed
in the scope that can be seen in the above figure. By viewing the results after running this
operation we can note that the torque ripples present in the motor will be increasing which is
not suggestible for the smooth and proper functioning of a BLDC motor. Hence, we need a
controlling technique which helps us in overcome the problem of torque ripples which can be
seen in the following circuit.
The above figure shows the waveforms of the voltage and speed of the BLDC motor when we
perform the operation of four quadrant on the BLDC motor. The voltage first rises from 0 to 400
becomes constant for a while, then after some time we see a disturbance in the wave where the
voltage suddenly increases for a short time and again the wave stabilizes at 400 and becomes a
constant value. At the same instant the speed is never constant it keeps varying and is never
stable at any point of time. Hence using a controller is necessary to eradicate these disturbances
and make the process simpler and perfect.
6.2 : Controlled operation of BLDC motor in four quadrants using MPC

Fig 6.3: BLDC with MPC

In general, when the operation of BLDC motor is done in the four quadrants, we can see the
increment in the torque ripple when we attach a scope to it. But this increment in the torque
ripples is an undesired result of the whole process; hence, we need to imply any type of
controlling technique that will help us monitor the rotor position and other measurable
quantities when the operation process is done. Here, for our requirement, we used a MPC
available in the MPC toolbox. The detailed information about the working process and operation
process is being explained in Chapter 2. In general, an MPC used past information about the
plant to which it is connected and sets the future in the desired and required manner. Hence the
model predictive controller helps us as a controller managing in reduction of the torque ripples
that are observed when our necessary process is done.
 Fig 6.4: Voltage and Frequency

Fig 6.5: Actual and Referential speed

 Fig 6.6: Torque Waveform

The above shown three figures show five waveforms relating to voltage, frequency, actual
speed, referential speed and torque. These waveforms are obtained after we perform the
operation of BLDC motor for four-quadrant operations taking the help of MPC as a controlling
technique which monitors the voltage, current and other factors. Other than that, it mainly helps
us in reducing the torque ripples which is the main purpose of using the MPC in this process.
The torque ripples can also be seen reducing or having a near to constant value relative to the
speed. The disturbances or the irregularities in the actual speed waveform can be seen
improvising(reducing) and the actual speed is getting near to the reference speed which shows
that the motor is working as per our requirements without losing any of its characteristics and
functions perfectly.
 CHAPTER-7
CONCLUSION AND FUTURE WORK
7.1 CONCLUSION

Using the Simulink, we obtained the model for the BLDC motor with predictive control
system. Hence, we can say that the noise and vibration of the BLDC system is reduced
depending on the characteristics like speed and torque. We used the MPC model to show
and prove that the system having predictive control consumes less time when compared to
other controller used system and to for our evidence when the system is made to run using
the predictive model the time elapsed was reduced by 0.025 sec when compared to that of
other controller systems.

Other than the time constrain we can also say that the predictive control not only consumes
less time but also makes future predictions about the working of the system and works to
operate the system accordingly. If required the same results can be verified using hardware
model and can be compared with the results obtained using the Simulink. The proposed
model also has exterior instabilities such as input voltage fluctuations and mechanically
caused instability of the motor. Doing these betterments can increase the overall efficiency
of the whole system considerably.
7.2 Future Scope

The projected model can also be used for other types of motors as well but the working part
increases as working of other types of motors is not that simple as BLDC system. The torque
ripples are present in every type of motors and these are harmful if these cross the limits
permissible. So, these ripples should be kept under control where we need to use any of the
controlling techniques present in the world.

The proposed work i.e., operation of BLDC drive in four quadrants using model predictive
controller shows that for any fluctuations or variations in the load which in turn varies the
torque in the motor the system works fine and has the ability to control the torque ripples
caused by the variable loads and also monitors the other characteristics of the motor for all
these variable load conditions applied.

Hence, the proposed system can work under any conditions, for any system with any ranges
and can work perfectly without the loss of the power and also stability of the system. The
operation is not compromised by the external conditions faced and gives the expected output
at all situations due to its robust controlling techniques.
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