IEEE INDICON 2015 1570185691

1  
2  
3  
Stability Analysis of a Novel PMBLDC Motor Driive for Electric
4  
5  
Scooter Application
6   Satyendra Kumar. M Udyakumar R. Y, Senior
S Member, IEEE
7   Department Electrical & Electronics Engineering
E Department of Electrical & Electronics Engineering
8   N.M.A.M Institute of Technologyy, Nitte National Institute of Technology,
T Karnataka
9   Karkala, India Surathkkal, India
10   sat_shet@yahoo.co.in udaykumar.yaraagatti.in@ieee.org
11  
12  
Abstract- A state of art design and stabilityy analysis of high The scheme of the proposedd PMBLDC motor drive consists
13   power density and high efficiency Permanentt Magnet Brushless of motor design and control tecchniques. It has distinct features
14   DC (PMBLDC) Motor drive suitable for ligght electric vehicle over the conventional PMBLDC motor drive namely (a) There
15   application is presented in this paper. The motor
m used is poly- are many poles and two adjaccent poles form a pair of poles
16   phase, multi-pole, rectangular wave Permanent Magnet motor which results independent fluux path. Hence there will be
17   with outer rotor configuration. The spokes of the wheel is directly reduction in volume and weighht and phase de coupling [14,15],
18   fitted in to the outer rotor of this proposed mootor. In comparison (b) Saving in copper because coil span of stator winding is
19   to the conventional PMBLDC motor this motor has special equal to slot pitch [16], (c) Cogging torque is eliminated
features namely, reduction in volume and weight, saving in
20   because fractional number of sllots per pole per phase, (d) Very
copper and elimination of cogging torque. Thee motor operates at
21   high starting torque and high cruising speed. Hence
H the proposed
fast dynamic response because of its inherent phase decoupling
22   PMBLDC drive will have high power density, high efficiency and [17].
23   fast dynamic performance which will be best suited for gearless In this paper design and annalysis of poly phase multi pole
24   electric vehicle application. The design and stability analysis are rectangular permanent magnett brushless DC motor drive is
25   carried out on 3-phase, 8pole PMBLDC motorr drive. Simulation presented. Since the multi polee structure reduces the length of
26   results are obtained with Matlab. The objeective of the light the end windings there will be saving
s in copper and decrease in
electric vehicle is to provide high efficiency controllability and copper loss, also height of the yoke
y and volume of the motor is
27  
safety with wide speed range. The simulation n results show that
28   reduced. Also the motor configuration,
c electric vehicle
the developed PMBLDC motor model with modular approach
29   and enhanced efficiency is best suited for light electric vehicles.
configuration, mathematical annalysis of the PMBLDC motor
30   drive and the closed loop controol technique are described in the
31   Keywords- Permanent Magnet Brushless DC motor; m High power following sections. From the design
d and analysis it is verified
32   density; High efficiency; Controllability; Stabillity. that obtained results are suitable for electric vehicle
applications.
33  
34   I. INTRODUCTION II. MOTOR CON
NFIGURATION
35   Electrically propelled vehicles are gainiing momentum in
36   urban transportation. In India there is a wide scope for Electric The schematic diagram of the 3 phase, 8 pole PMBLDC motor
37   Vehicles (EVs) development with highest perr capita density [1,
with outer rotor configurationn is as shown in figure 1. The
38   2]. Approximately 70% of energy sourcce by means of
motor has 21 slots and the winding
w diagram is as shown in
39   petroleum products are imported in our coountry which also
effects economy of the nation [3]. The carbbon emission from figure 2. The rotor has 8 poles formed by means of 8 pieces of
40   permanent magnets. The fractioonal number of slots per pole is
41   the Internal Combustion Engine (ICE) vehhicle depletes the
ozone layer which gives raise to global warm ming. These factors 21/8. This arrangement eliminaates cogging torque of the motor.
42   The scooter parameters requirred for the motor design are as
43   motivated to design and develop EVs as the alternative
a solution
for the transportation over conventional ICE E driven vehicles. shown in Table 1.
44  
There are several configurations of electric vehicles, namely-
45  
Electric scooter, Electric bicycle, Electric tri--cycle, Electric car
46   and so on [4]. The major criteria of EVss are high power
47   density, high efficiency and wide speed rangee. This is achieved
48   by means of specially designed permanent magnet brushless
49   motor drive with novel control scheme [5-9].
50  
51   Permanent magnet motors are having inhherent tendency of
high power density and efficiency [10]. The permanent
p magnet
52  
motors are either with Sinusoidal input orr with rectangular
53   input supply. The sinusoidal input type permanent
p magnet
54   motor has smooth torque whereas rectanguular fed permanent
55   magnet motor produces large torque for thee same Root Mean
56   Square (RMS) value [11, 12]. The rotor of the PMBLDC motor
57   can be either surface mounted permanent magnets
m or housed
60   inside the rotor in which the surface mounteed configuration is
61   simple and in case of buried inside the rottor the permanent
62   magnets are protected [13].
63   Figure 1: Outer rotor Confiiguration of PMBLDC motor
64  
65  
978-1-4673-6540-6/15/$31.00 ©2015 IE
EEE

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 In closed loop control techhnique, in addition to the open
loop configuration the feedbacck signals from the hall sensors
are considered. Figure 3 shows the Block diagram of open loop
control system of EV and figuure 4 shows closed loop control
technique of the EV.

Figure 2: Winding diagram of 8 pole 21 slots motor

TABLE 1: SCOOTER PARAMETTER

Sl.
Parameter V
Values Unit
No
1 Total Mass of the vehicle, people 2200 Kg
2 Maximum acceleration 0
0.65 m/s2
3 Coefficient of normal tyre rolling 0
0.013 Figure 3: Block diagram of openn loop control for electric vehicle
resistance
4 Density of air 1.23 Kg/m3
5 Drag coefficient 0
0.6
6 Frontal area 0
0.8 m3
7 Angle of slope 12 degree

Based on the scooter parameters the prroposed PMBLDC

motor with technical specifications are givenn in Table 2, which
will overcome the rolling resistance, drag andd tractive force.

TABLE 2: TECHNICAL SPECIFICATIONS OF PM

MBLDC MOTOR
Parameters V
Values
Rated voltage 48V DC
Rated power 5000 W
Rated torque 1.227 Nm Figure 4: Block diagram of closeed loop control for electric vehicle.
Rated speed 30000 rpm
Rated current 111.4 A
Peak current 344.2 A IV. MATHEMATICAL ANA
ALYSIS OF PMBLDC MOTOR
Peak torque 3.881 Nm DR
RIVE
Resistance 0.944 Ohms
Inductance 1.119 mH The equivalent model of a three phase star connected
Electrical time constant 1.226 ms inverter fed PMBLDC motor is i as shown in figure 5. In this
study, in addition to the assumpptions made below the frictional
Mechanical time constant 4.991 ms constant is also considered.
Voltage constant 10.1 v/krpm
Assumptions for the analysis:
Torque constant 0.1288 Nm/A
• Stator resistances and indductances of all windings are
Rotor moment of inertia 0.51 Kg.cm2 equal.
III. ELECTRIC VEHICLE CONFIGUR
RATION • All the three phases have ann identical induced emf shapes.
• Power semi-conductor deviices are ideal.
The electric vehicle configuration can be implemented with • Iron losses are negligible.
two different controls namely- open loop control
c and closed • Constant self and mutual innductance.
loop control. An open loop electric scoooter configuration • Armature reactions are ignoored.
consist of a battery, accelerator, PMBLDC motor
m drive with in • Uniform air gap and Motor is not saturated.
built hall sensors and an electronic commutattor to produce gate • No power loss from the inverter.
signals for the inverter.

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 Figure 5: Equivalent model of PMBLDC motor

The equations that drive the motor is given by,

d ൫va -ia Ra -ea ൯ Figure 6: Model of three phase inverter

ia = (1)
dt L The hall sensors which are the part of PMBLDC motor is
fed to the controller based on which the six semiconductor
d ൫vb -ib Rb -eb ൯ switches (Q1-Q6) operates to commutate at 60° electrical. The
ib = (2)
basic equations for the modeling of the inverter are,
dt L

d ൫vc -ic Rc -ec ൯ Van =Q1 Vd -Q4 Vd -Vf

ic = (3) (7)
dt L
Vbn =Q3 Vd -Q6 Vd -Vf
The torque equation of the motor is given by, (8)
d
Teq =J dt ωm +Bωm +TL (4) Vcn =Q5 Vd -Q2 Vd -Vf (9)
dθe P
= ቀ ቁ ωr (5)
dt 2 Where, Van, Vbn, Vcn = line to neutral voltages
Where Vd= DC link voltage
Ra= Rb =Rc, Stator resistance of each phase (Ohms), Vf= voltage drop of forward diode.
L = Stator inductance of each phase (Henry),
M= Mutual inductance of each phase (Henry)
ia, ib and ic ,=Stator phase current of each phase (Ampere), V. CONTROL TECHNIQUE
va, vb and vc =Stator phase voltage of each phase (Volts), The closed loop control technique of the proposed system is
ea, eb and ec = Back EMF voltage of each phase (Volts), as shown in figure 7 which consists of speed feedback and
Ke=Back emf constant (Volt/(rad/sec)), current feedback signals. This control technique is much
T=Torque constant (N-m/Ampere), simpler when compared to that of the three phase vector
Te=Torque developed by the motor (N-m), control of the induction motors drives.
Tl=Load torque by the motor (N-m),
θe =Angle between the phase and the rotor (radians) The control operation is as follows: When the set reference
J =Moment of inertia of motor and load (Kg-m2/rad), speed ωref is changed from zero to one, the motor starts
B =Frictional constant of motor and load (N-m/(rad/sec)) rotating and the speed feedback steadily increases. The relative
speed between reference speed and the speed feedback is fed
into the Speed Controller (SC). The current reference for the
Using the above voltage and torque equations the transfer
inner current loop is Iref. Per phase current feedback is
function for the motor is derived which is given as, compared with current reference and the difference between
these two currents is fed into Current Controller (CC). The
ωm Kt output of the CC and the signals from the hall sensors provide
G ( s) = =
VS s 2 JL + ( RJ + K f L) s + K f R + K e K f (6) triggering signals to the thyristors of the inverter circuit. The
current control in each phase is implemented by using
The inverter is comprised of three legs and each leg is made of hysteresis loop and Proportional Integral (PI) controller is used
two semiconductor switches. A model of three phase inverter for speed control of the proposed PMBLDC motor.
is shown in figure 6,

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 The closed loop control sysstem model of PMBLDC motor
has been simulated using Mattlab/ Simulink and is shown in
Figure 10. In this model a PI control
c is been used in order to
regulate the speed. The parammeters of the PI controller are
shown in Table 3.

Figure 7: Control block diagram of the PM

MBLDC motor

VI. SIMULATION RESU

ULTS

Simulation model of the PMBLDC motorr drive is as shown

in figure 8 in which the input source voltagee is taken from the
basic voltage equations, and separate blockss are generated for
per phase back-emf and current output.

Figure 10: Closed loop model

m of PMBLDC motor

Table 3 Parameters of
o the Speed Controller
PI parameters Kp Ki
Values 2 666

From the Simulink modeel of closed loop system of

PMBLDC motor, a constant sppeed with increase of time with
load is as shown in figure 11.

Figure 8: Matlab/Simulink state model of the BLDC motor

The stator current is sinusoidal inn nature and the

trapezoidal form of back emf generated from
m the mathematical
model of the PMBLDC motor is shown in figgure 9.

Figure 11: Speed - Tim

me for closed loop system

The stability analysis of thhe PMBLDC motor is obtained

from the derived transfer funcction equation and the stability
plot is as shown in figure 12. Since
S the plot lies on the left and
side of the S plane the motor is in stable state.

Figure 9: Stator Current and Back-emf generatedd by the PMBLDC

motor with respect to time

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 Three phase inverter Simulink model based on the above
derived mathematical equationss is as shown in figure 15.

Figure 12: Stability analysis using Roott locus plot

The step response of the system is obtained

o from the
derived transfer function. The transient analysis of the motor
without the controller is shown in figure 13. Figure 15: Matlab/Simulink model of three phase inverter

The pulses generated by thhe PWM signal generator is as

shown in figure 16, the pulsees thus generated is fed to the
designed inverter and thus the three phase output voltage is as
shown in figure 17.

Figure 13: Transient analysis of the motor wiithout controller

It is observed that without the controllerr the system takes

0.12ms to settle down. In order to reduce thee settling time and
rise time a PI controller is cascaded with thee PMBLDC motor
system. The figure 14 shows the transieent analysis with
controller. Table shows the characteristics ofo the motor with
and without controller for the step response.

Figure 16: Three phase pulses for three phase inverter

Figure: 14: Transient analysis of the motor wiithout controller

TABLE 4: CHARACTERISTICS OF THE MOTTOR WITH AND

WITHOUT CONTROLLER

Specifications Without Controller With Controller

W Figure 17: Three phasse output of the inverter
Rise Time 0.00178 seconds 0.0001 seconds
Peak Over Shoot 82.6% 0%
% Performance analysis of thee PMBLDC motor is as shown in
Table 5 and Table 6. Table 5 provides the readings of DC
Settling Time 0.12 seconds 9 milli
m seconds input, Vdc, input DC current Idc, Motor input voltage Vrms

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 and Motor input current Irrms respectively for different load Proc. of National Seminar on Water Security, pp 1-5,
conditions. The corresponding output readings namely speed 978-1-4577-1002-5/11, IEEE, 2011
(N) in RPM, Force (F) in Newton, Torque (T) in N-m, Power
[4]. Mr. Vidyadhar Gulhane, Prof. M. R. Tarambale,
output of the motor (Po) and Power input to the motor (Pin) in
Watts and controller and motor efficiencies are as shown in Prof.Dr Y P Nerkar, “A Scope for the Research and
figure 6. Development Activities on Electric Vehicle Technology
in Pune City”, IEEE Trans, mag 2006.
TABLE 5: MOTOR POWER CONTROLLER READINGS [5]. G. K. Dubey, "Power Semiconductor Controlled
Sl.No Vdc(V) Idc(A) Vrms(V) Irms(A) Drives", Prentice Hall, New Jersey, 1989.
1 48.1 9.2 37.0 7.5 [6]. T. 1. E. Miller, “Brushless Permanent Magnet and
2 48.2 10.0 35.9 8.1 Reluctance Motor Drive”, Clarendon Press, oxford,
3 48.2 10.5 35.8 8.1 1989.
4 48.0 11.5 37.0 10.0 [7]. D. C. Hanselman, Brushless Permanent Magnet
5 48.1 12.8 37.0 11.6 Motor Design, McGraw hill, New York, 1994.
6 48.2 13.5 36.0 13.0 [8]. R. Krishnan, Electric Motor Drives, “Modeling,
7 48.0 15.5 36.2 15.8
analysis and Control”, Pearson Education, New Delhi,
8 46.8 21.0 35.0 20.1
2001.
9 44.9 21.6 33.0 20.1
[9]. J. F. Gieras, M. Wing, “Permanent Magnet Motor
10 48.1 9.2 37.0 7.5
Technology –Design and Application”, Marcel Dekker
TABLE 6: MOTOR DRIVE OUTPUT READINGS Inc., New York, 2002.
[10]. N. Ravi, S. Ekram, and D. Mahajan,”Design and
Sl. N F T P0 of Pin to Contro Motor
No (RPM) (N) (N-m) motor motor ller η η Development of an In-Wheel Brushless D.C. Motor
(W) (W) (%) (%) Drive for an Electric Scooter”, IEEE Trans, mag, 2006.
1 155 0 0 0 338.55 76.5 0 [11]. B. Singh, "Recent advances in permanent magnet
2 152 9.8 1.17 18.71 354.76 73.6 05.20 brushless DC motors", Sadhana, Vol. 22, Part 6, pp.
3 150 19.6 2.35 36.94 353.77 69.9 10.44
837-853,Dec.1997.
4 148 49 5.88 91.13 370.00 67.02 24.62
5 140 98 11.76 172.41 429.20 69.71 40.10 [12]. C.L. Puttaswamy, “Analysis, Design and control of
6 142 147 17.64 262.31 570.96 87.74 45.94 Permanent Magnet Brushless motors”, PhD.Thesis, IIT,
7 133 196 23.52 327.58 571.96 76.87 57.17 Delhi, 1996
8 110 294 35.28 406.40 703.50 71.58 57.76 [13]. B.Singh, B.P.Singh and S.K .Dwivedi, "A state of art
9 101 343 41.16 435.33 663.3 68.39 65.50
on different configurations of Permanent magnet
10 155 0 0 0 338.55 76.5 0
brushless machines", IE(I) Journal- EL,Vol.78,pp.63-
VII. CONCLUSIONS 73,June 2006.
The special features of the proposed motor like [14]. C. C. Chan, K. T. Chau, J. Z. Jiang, W. XiaMeiling
arrangement of permanent magnets with outer rotor Zhu, and Ruoju Zhang,” Novel Permanent Magnet
configuration and fractional number of slots per pole are Motor Drives for Electric Vehicles” IEEE Trans on
capable of achieving high power density, high efficiency with Industrial Electronics, Vol. 43, No. 2, April 1996
elimination of cogging torque. It is found that design
configuration with performance requirement of the EVs motor [15]. C. C. Chan, W. S. Leung and K. T. Chau, “A new
are different from that of the industrial drive motor. From the permanent magnet motor drive for mini electric
steady state and dynamic analysis it is found that the designed vehicles,” in Proc. Int. Electric Vehicle Symp. (EVSj,
PMBLDC motor drive is suitable for EV application with high Hong Kong, 1990, pp. 165-174.
starting torque and high cruising speed. [16]. C. C. Chan, R. Zhang, K. T. Chau, and J. 2. Jiang, “A
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